Composition method of automatic driving machine consciousness model

ABSTRACT

The invention proposes an automatic driving “machine consciousness” model, which is composed by the human&#39;s safety driving rules. Establish the dynamic fuzzy event probability measure relation, or fuzzy relation, or probability relation of the automatic driving vehicle and the surrounding passing vehicle. The decision result of “machine consciousness” of automatic driving vehicle is realized by complicated logic operation and using the antagonistic result of logic operation in both positive and negative directions. The implementation result is that it can make the decision-making result of automatic driving vehicle close to the result of human&#39;s biological consciousness, which can improve the safety of automatic driving vehicle, reduce the development cost and reduce the distance of road test.

TECHNICAL FIELD

This application claims all benefits accruing under 35 U.S.C. § 119 fromChina Patent Application No. 201811213226.4, filed on Oct. 11, 2018 inthe State Intellectual Property Office of China, the contents of whichis hereby incorporated by reference.

The invention belongs to a composition method of the automatic driving“machine consciousness” model in the field of artificial intelligence.

BACKGROUND ART

Automatic drive car is the main battlefield of artificial intelligence,but it is regrettable that the research results of special machinelearning for the control problem of automatic drive car are very few andhasn't attracted widespread attention so far.

Japan's famous Toyota Company has released a patent for “DrivingDirection Presumption Device” (Patent Literature 1), proposing that,according to the sudden situation during the automatic drive process,through the machine learning algorithm of the inverse transfer neuralnetwork of artificial intelligence, even if the driver does not responseto the situation, the vehicle is capable of choosing the driving stateautomatically in order to avoid traffic accidents and so on.

On Oct. 9, 2016, in terms of the topic of “How to cross the barrier ofautomatic drive” explained by a commentator named Muroyama Tetsuya fromNHK, Japan, he also raised a few issues that are currently unsolvable inthe automatic drive system:

Conflict and difficulty of man-machine judgment: In the automatic driveexperiment carried out in Google in February of this year, when theGoogle car turned right, there was a sand pile of obstacle in front ofit, the Google car flashed to the right lane, just then a bus from rightlane came behind, and the bus driver thought the Google car would brakequickly, but never thought it dodged to the right lane, so a serioustraffic collision accident occurred.

The difficulty of man-machine sensory fusion for vehicle distanceselection: According to a company's survey, 41% of drivers whoencountered an automatic drive car on the road thought it was better tobe farther away from it, but some drivers thought it was better tofollow it with a fixed distance, or to be closer to it, and the otherswanted to catch up with the automatic drive car in front of them withthe curiosity. This refers to how to solve the problem of man-machinesensory fusion and how to choose driving nearest to human as anautomatic drive car, which becomes a difficult problem of automaticcontrol.

The transfer problem of man-machine rights: In the transformation stageof man-machine operation, the consciousness between human and machinecannot be delivered. For example, in case of an emergency, in the momentnecessary to switch from automatic drive to manual drive, the emergencyplan selected by the automatic drive is different from that of manualdrive, which is likely to cause an accident or miss the opportunity.

Trolley problem: How is the number of victims minimized in an emergency?This is the famous Trolley problem and involves both complex ethical andtechnical difficulties. In the automatic drive theory of machinelearning, no valuable solutions have been proposed so far.

In March 2018, Uber's automatic drive car pumped into people, whichexposed the contradiction of how to solve the problem of safety drivingand comfortable driving in the development of automatic drive cars, andthe setting problem of threshold value for determining obstacles.(Non-Patent Literature 2)

Drive test mileage have circled the earth and is expected to subvert theworld, the Google automatic drive car that is about to be put intocommercial operation now (August 2018) is exposed to exist the problemof turning in the doorway again. (Non-Patent Literature 3)

A thesis on “Automatic Drive Train by Fuzzy Predictive Control”published by Oshima Hiroyasu from HITACHI (Non-Patent Literature 4)proposes that automatic driving of train is capable of being achievedthrough the rule base of fuzzy inference.

“Automatic Train Driving System by Using Predictive Fuzzy Control”(Non-Patent Literature 5) published by Yasunobu Seiji of University ofTsukuba proposes that the traditional PID regulation is capable ofaccurately controlling the operation of automatic driving of train, butthe smooth walking is not only the key of automatic driving, but alsothe key to make passengers comfortable. And the core problem ofautomatic driving is a multi-purpose control problem that should payattention to safety, running speed, travel time between stations,comfort, power consumption, and stop accuracy.

PRIOR ART DOCUMENTS Patent Documents

[Non-Patent Literature]

-   [Patent Literature 1] (Special Opening 2008-225923)-   [Non-Patent Literature 1]    http://www.nhk.or.jp/kaisetsu-blog/100/255089.html-   [Non-Patent Literature 2] http://www.sohu.com/a/225962192_100083734-   [Non-Patent Literature 3]    https://baijiahao.baidu.com/s?id=1610113338436012375&wfr=spider&for=pc-   [Non-Patent Literature 4]    https://www.jstage.jst.go.jp/article/ieejeiss1987/109/5/109_5_337/_pdf-   [Non-Patent Literature 5]    http://ttt.akiba.coocan.jp/yasunobu/edu/intconthtms/text/Sic07a_trainATO.pdf#search=%27    %27

The above (Patent Literature 1) uses artificial intelligence neuralnetwork algorithm, however, in the neural network algorithm, theinformation of objective function is carried on large number of data setof weighted value and threshold value, which, in the process oflearning, needs to adopt the method of exhaustion to test all states inorder to get the best solution. The total number of times to be combinedis {(W×T)^(n)}×P, wherein n is the node number of one layer of neuralnetwork, and P is the layer number of neural network. The computationalcomplexity of such a high index makes the computation huge and thehardware overhead is huge, which belongs to the problem of solving smalltasks by a large model. Furthermore, as a remedy, the probabilitygradient descent method, referred to as SGD, is used in the lossfunction for in-depth learning effect, and the training value obtainedis only a local optimum solution, so it is inevitable to have“black-box” problems. The threshold value in the neural network model isdefined artificially, which has nothing to do with the neural networkmechanism of human brain, and the stimulation signal mechanism ofcranial nerve can't be reflected in the traditional neural network modelat all. The mechanism that human brain makes different judgmentaccording to the excitation degree produced by the nerve signals ofneuron is not reflected in the current neural network models and so on,and the traditional neural network models cannot be widely used. Now, inthe stage of deep learning, compared with the traditional neuralnetwork, only the number of hidden layers has increased, which makes thecalculation more complex, so the fatal black-box problem of traditionalneural network can't be solved, and there will be hidden danger in theapplication of automatic drive car, therefore, it's difficult to lookforward to the prospect of applications.

The above (Non-Patent Literature 1) mentioned “Conflict and difficultyof man-machine judgment”, “The difficulty of man-machine sensory fusionfor vehicle distance selection”, “The transfer problem of man-machinerights” and “Trolley problem” should be the problems required to besolved in the automatic drive car of artificial intelligence and shouldbe the core problem of artificial intelligence, but no widespreadattention has been paid at present.

The above (Non-Patent Literature 2) and (Non-Patent Literature 3)revealed the traditional control method adopted by Google and most ofthe world's best-known car factories, which have been stagnating in thedevelopment of automatic drive cars for nearly a decade. The NP problemsin the field of control occurred because of the high complexity ofautomatic drive cars and if the NP problem cannot be solved, theprogress of automatic drive car will never be achieved.

The above (Non-Patent Literature 4) mainly solves the problem ofautomatic driving of train and the rule base of fuzzy inference isproposed to be used to realize the automatic driving of train, but theestablishment of a huge knowledge base requires a large-scale manualconstruction of the rule base. Moreover, it can only solve within two orthree objective functions and is difficult to be used in automatic drivecar.

Although the above-mentioned (Non-patent literature 5) proposes amulti-purpose fuzzy control, also because the use of fuzzy control incorresponding to the control of more objective function is reluctant, soit still remains in the individual control for each specific objectivefunction. In particular, the fuzzy control used in the objectivefunctions such as man-machine sensory fusion, safety, energy saving andcomfort in the automatic drive car, and simultaneous control of multipleobjects, because different objective functions are not in the samespace, it is difficult to find a common optimized control point. Even ifbeing mapped to the same space, it is impossible to get a common optimalpoint of intersection of different objective functions by traditionalmethods. Therefore, it is necessary to find the redundancy between themulti-objective optimal control and truly realize the multi-objectiveoptimal control. Therefore, it is necessary to solve the establishmentof machine learning model for multi-objective control.

SUMMARY OF THE INVENTION Problem to be Solved by the Invention

The first purpose of the invention is to propose a more powerfulautomatic machine learning model based on composite model to improve thecomputing ability of the machine learning in order to realize the imageapproximation of machine learning without training.

The second purpose of the invention is to enable the automatic drive carto learn excellent driving skills from a good driver so as to improvethe control level of the automatic drive car, reduce the complexity ofthe automatic drive car control, and avoid the NP problem presented onthe control of traditional a automatic drive car.

The third purpose of the invention is to put forward a model of machinedecision-making mechanism, which can realize “machine consciousness” forcomplex road condition and provide optimized state instruction forautomatic drive vehicle decisively and then automatic drive car calls“Smart Gains” data according to state instruction.

The fourth purpose of the invention is to propose a multi-purposeoptimal control machine learning model and system device suitable forautomatic drive car, which can carry out the control of the best machinelearning model for multi-objective functions including safe driving,fast arrival, comfortable riding, and energy saving and so on.

The fifth purpose of the invention is to propose an image extractionmethod importing into an SDL model, which can create a new way ofmachine learning image processing so as to improve the accuracy of imageprocessing and image recognition.

The sixth purpose of the invention is to propose a calculation method ofdistance that can span the Euclidean space and the probability space,and this distance formula satisfies the conditions of distance scale ofnon-negative, non-degenerate, symmetry and triangular inequality.

The seventh purpose of the invention is to propose a calculation methodof fuzzy event probability measurement that can span the Euclidean spaceand the probability space, which can resolve the problem ofclassification between data interwoven by probability distribution, makemicro-uncertain information and unstable information produce definite,stable and valuable information through macro-integration, and thenrealize the unexpected application effect.

Means to Solve the Problem

In order to achieve at least one of the above-mentioned purposes, theinvention provides the following technical scheme. The inventionproposes a composition method of automatic driving “machineconsciousness” model, which implementation effect is:

-   -   A composition method of automatic driving “machine        consciousness” model has at least one of the following        characteristics:    -   (1) Automatic driving “machine consciousness” model is one scale        relation described by mathematical expression according to        human's safety driving rules; Or at least one of dynamic fuzzy        event probability measure relation, fuzzy relation and        probability relation between the automatic driving vehicle and        the surrounding passing vehicle.    -   (2) Automatic driving “machine consciousness” model is the        result of logic operation based on the scale relation described        by the above mathematical expression method.

The said “machine consciousness” model, the driving “machineconsciousness” of the automatic driving vehicle is realized by thelogical antagonism with the result of logic operation in both positiveand negative directions.

The safety driving rules include one of those that include trafficrules, hazard prediction rules and the hazard avoidance rules.

The mathematical expression method mentioned above is the method whichcan describe the scale relationship between elements that can beobtained by the membership function or the function approximationcomposed by the given parameter.

Effect of the Invention

The invention proposes an automatic driving “machine consciousness”model, which is composed by the human's safety driving rules.

The implementation result is that it can make the decision-making resultof automatic driving vehicle close to the result of human's biologicalconsciousness, which can improve the safety of automatic drivingvehicle, reduce the development cost and reduce the distance of roadtest.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiment of the present invention is further detailed throughcombination with the attached figures, but the embodiment of the presentinvention is illustrative, not restrictive.

FIGS. 1A-1C illustrate a schematic diagram of the approximation methodof realizing a lane by automatic machine learning;

FIG. 2 shows a flow diagram of the approximation method of realizinglane by automatic machine learning;

FIG. 3 is a definition diagram of the distance traversing differentspaces including probability spaces;

FIG. 4 shows a flow diagram of the extraction of the overallcharacteristics of the lane environment;

FIG. 5 shows a calculation flow diagram for obtaining the maximumprobability gray-scale value;

FIG. 6 is flow diagram of the machine learning for the imagecharacteristics of lane;

FIG. 7 is flow diagram of the image extraction of a lane;

FIGS. 8A-8B show effect figures of the lane line approximation byautomatic machine learning;

FIGS. 9A-9B show effect figures of the image extraction of a lane lineimporting into the SDL model;

FIG. 10 shows a method diagram for solving the derivative value of themaximum probability;

FIGS. 11A-11B show effect figures of the marginalization treatment of animage;

FIGS. 12A-12D illustrate four characteristic curves of the formularizedmembership function of “machine consciousness”;

FIGS. 13A-13B illustrate a formalized model of the “MachineConsciousness” of automatic driving;

FIG. 14 is a schematic diagram of the machine decision-making mechanism;

FIG. 15 is a schematic diagram of the “Smart Gains” for the processcontrol of an automatic drive car;

FIGS. 16A and 16B are schematic diagrams of possible situations duringautomatic driving; and

FIG. 17 is a schematic diagram of the fusion method of “Smart Gains” and“Machine Consciousness”.

The “Super Deep Learning” model proposed in this application refers toan artificial intelligence system composed of the self-organizingmachine learning model with plural's probability scale, or pluralautomatic machine learning model, and the distance formula used to unifythe Euclidean space and the probability space, or the whole or part ofmodel in the fuzzy event probability measure formula used to unify theEuclidean space and the probability space.

As shown in FIG. 1A: This is an unsupervised machine learning modelsimilar to the definition of probability scale self-organization. Theiterative method is that in a given space, after a given scale is usedto generate a necessary new space, and a new scale can be generated inthe new space. And after several such iterations, a space that convergesto this scale is bound to be obtained. For example, if this scale is thescale of maximum probability, after several iterations, the space, scaleand distribution of maximum probability is bound to be obtained.

As shown in FIG. 1B: This is a more powerful automatic machine learningmodel based on a composite model. The specific principle is that in agiven space, based on an optimized scale, or the scale of maximuminformation or the scale of maximum probability, after the iteration, aspace of optimization, or maximum information, maximum density, ormaximum probability must be produced. And in this new space, a functionapproximation model is added to the space and makes the effect offunction approximation higher than that of the previous space. In thenew space, a new scale of optimization, or a new scale of maximuminformation, or a new scale of maximum probability can be produced, andby iteration, a new space of optimization, or maximum information,maximum density or maximum probability can be produced. In this way, thefunction approximation model is used to carry out the function optimalapproximation in the row space continuously, so that the functionapproximation effect is better. After several iterations, the functionapproximation effect reaches the best state, and the machine learning ofthis composite model can achieve the best function approximation effectwithout training, so it can be called automatic machine learning.

The above-mentioned optimized scale refers to genetic manipulationincluding fractal, or the inheritance and evolution that simulatesorganisms in the natural environment, or the maximum fuzzy value, or themaximum density value, or the maximum approximate value, or one of themaximum similar relational values.

Or, for non-probability space, it also can be extended to either theEuclidean Distance scale, or the Manhattan Distance scale, or theChebyshev Distance scale, or the Minkowski Distance scale, or theMahalanobis Distance scale, or the Cosine scale, or the distance scalethat unifies Euclidean space and the probability space, or one of thefuzzy event probability measurements that unifies Euclidean space andthe probability space.

Alternatively, it also can be extended to Jaccard similarity Coefficientscale, or one of the Hamming Distance scale.

The above-mentioned maximum information refers to: maximum informationentropy.

The above-mentioned scale of the maximum probability refers to: one ofthe maximum probability value based on the normal distribution, ormultivariate normal distribution, or logarithmic normal exponentialdistribution, or t distribution, or F distribution, or X² distribution,or binomial distribution, or negative binomial distribution, ormultinomial distribution, or Poisson distribution, or Erlangdistribution, or hypergeometric distribution, or geometric distribution,or communication traffic distribution, or Weibull distribution, ortriangular distribution, or Bete distribution, or Gamma distribution.

The above-mentioned models that carry out the function approximation canbe linear regression approximation, optimal square approximation, leastsquares approximation, Chebyshev polynomial approximation, splinefunction approximation, interpolation polynomial approximation,triangular polynomial approximation, rational approximation, Padapproximation, etc.

FIG. 1C is schematic diagram of the Lane approximation by automaticlearning. As shown in FIG. 1C: (100) is the Lane image of automaticdrive car. The Lane image is an oblique line consisting of discretelattice, and (101) is the central line of discrete lattice located nearthe Lane position. This line is obtained in the initial state by theapproximation function based on the initial given space. There must be ascale in the given space and the lattice within this scale is closest tothe approximation line of the Lane (101), and the lattice within thescale is preserved and the lattice outside the scale is removed and thena new space can be produced. Wherein this scale is the variance of theprobability distribution, and also can be the lattice density of regionsenclosed by (102) and (101), or the lattice density of regions enclosedby (103) and (101), also can be the two-dimensional probabilitydistribution of the lattice of regions enclosed by (102) and (101), ortwo-dimensional probability distribution of the lattice of regionsenclosed by (103) and (101).

When the density is used as the scale, and when the lattice density ofregions enclosed by (102) and (101), or by (103) and (101), increases,the spacing between (102) and (101), or (103) and (101) decreases, onthe contrary, when the lattice density of regions enclosed by (101) and(102) or by (103) and (101) decreases, the spacing between (102) and(101), or (103) and (101) increases.

When the maximum probability distribution value of two-dimensionalprobability distribution is used as the scale, the two-dimensionalprobability distribution of rectangular region should be adopted.

FIG. 2 shows a flow diagram of the approximation method of realizing alane by automatic machine learning. As shown in FIG. 1 and FIG. 2 : Theprocessing steps of lane detection using automatic machine learning areas follows:

S₁ is the initialization step: Lane detection is aiming at the binaryimage that is transformed by the environmental image of automatic drivecar, or the Lane image is extracted by machine learning from theenvironmental image of automatic drive car before binarizationprocessing of the image is carried out.

In the process of initialization, the general initial range of the Laneis given, and the initial iteration range which is equal to about halfof the image can be given first, and in the initial range, at least oneprocessing sub-Lane image must be included. Within the given range, theposition of lattice with the gray-scale value of 256 is set to bex_(ij), y_(ij) (i=1, 2, . . . , n, j=1, 2, . . . , m), wherein i is theresult of the i^(th) iteration, j is the lattice order, and the latticeorder is independent of the processing result.

S₂ is the step of determining the central line: within the existingrange of Lane produced in the initialization step of S₁, or within therange obtained in the iteration process, the central line (101) isobtained through the following formula.

The lattice set equal to P_(i) (i=1, 2, . . . , n) within the i^(th)given range and the m lattices equal to p_(ij)∈P_(i) (i=1, 2, . . . , n,j=1, 2, . . . , m) belonging to this lattice set is set up, thecoordinate position of each lattice p_(ij) is x_(ij), y_(ij) (i=1, 2, .. . , n, j=1, 2, . . . , m) and then the following calculations arecarried out:

$\begin{matrix}{y_{i}^{\prime} = {\frac{1}{m}{\sum\limits_{j = 1}^{m}y_{ij}}}} & \left\lbrack {{Formula}1} \right\rbrack\end{matrix}$ $\begin{matrix}{x_{i}^{\prime} = {\frac{1}{m}{\sum\limits_{j = 1}^{m}x_{ij}}}} & \left\lbrack {{Formula}2} \right\rbrack\end{matrix}$ $\begin{matrix}{b_{i} = \frac{\sum\limits_{j = 1}^{m}{\left( {y_{ij} - y_{i}^{\prime}} \right)x_{ij}}}{\sum\limits_{j = 1}^{m}{\left( {x_{ij} - x_{i}^{\prime}} \right)x_{ij}}}} & \left\lbrack {{Formula}3} \right\rbrack\end{matrix}$ $\begin{matrix}{a_{i} = {y_{i}^{\prime} - {b_{i}x_{i}^{\prime}}}} & \left\lbrack {{Formula}4} \right\rbrack\end{matrix}$ $\begin{matrix}{y_{i} = {a_{i} + {b_{i}x_{i}}}} & \left\lbrack {{Formula}5} \right\rbrack\end{matrix}$

With the use of these formulas, a lattice set P_(i) from a given rangeand a lattice closest to the straight line (101) between all the latticep_(ij)∈P_(i) of this set can be obtained.

S₃ is the step of determining the distance from the lattice to thecentral line: for the lattice set Pi within a given range i, and for allthe lattice p_(ij)P_(i) (i=1, 2, . . . , n, j=1, 2, . . . , m) belongingto this set, and the distance from a straight line derived from S₂, thefollowing calculations are carried out:

$\begin{matrix}{d_{ij} = \frac{{b_{i}x_{ij}} - y_{ij} + a_{i}}{\sqrt{b_{i}^{2} + 1}}} & \left\lbrack {{Formula}6} \right\rbrack\end{matrix}$

By judging the positive and negative of d_(ij), it can be known that thepixel in a given region is the pixel in the direction of the linearregression line, and the positive of negative sign distance isdetermined after classification.

S₄ is the step for determining the iteration scale: that is, thevariance S_(i) ² and average d_(i)′ of distance from the entire latticewithin the given i^(th) range is determined

$\begin{matrix}{d_{i}^{\prime} = {\frac{1}{m}{\sum\limits_{j = 1}^{m}d_{ij}}}} & \left\lbrack {{Formula}7} \right\rbrack\end{matrix}$ $\begin{matrix}{S_{i} = \sqrt[2]{\frac{1}{m - 1}{\sum\limits_{j = 1}^{m}\left( {d_{ij} - d_{i}^{\prime}} \right)}}} & \left\lbrack {{Formula}8} \right\rbrack\end{matrix}$

S₅ is the step for determining new space, that is, the new space isobtained on the basis of S_(i) scale, which is solved with S₄ byadopting iteration formula. Considering that Formula 7 and Formula 8 areone-dimensional probability distribution, the distortion of functionapproximation will appear, so the density of the lattice in the regionenclosed by the linear regression line (101) and the S_(i) scale (102)or (103) of Formula 8 can also be used here as the iteration scale forgenerating new space. When the density increases, the spacing between(102) and (101) or (103) and (101) decreases, on the contrary, thespacing between (102) and (101) or (103) and (101) increases.

Another method is to calculate the iteration scale directly by using thetwo-dimensional rectangular probability distribution formula, so as togenerate a new iteration space.

S₆ is the step to determine whether the iteration is complete: if “no”,then jump to S₂ to continue the iteration process, and if “yes”, thenenter the end iteration of S₈. The judgment is based on whether thenumber of iterations used reaches the maximum number of iterations orwhether the iteration achieve the result of the best approximation? If“yes”, turn to the end of the iteration process step, otherwise jump toS₂ to continue the iteration process.

S₇ is the end.

Through such iteration process, the position of the Lane can be obtainedto play the role of the lane detection.

FIG. 3 is a definition diagram of the distance traversing differentspaces including probability spaces.

As shown in FIG. 3 : (301) is a Euclidean space covering probabilityspace. There are two probability spaces (320) and (330) in Euclideanspace. (302) is the central point of the probability distribution (320).(303) is the scale of the first probability distribution value of theprobability distribution (320), (304) is the second probabilitydistribution value of the probability distribution (320), and (305) isthe third probability distribution value of the probability distribution(320). In addition, (306) is the domain of the scale of the firstprobability distribution of the probability distribution (320). Thescale spacing between (302) and (303) is D_(1j) ⁽³²⁰⁾ and within thisdomain, the probability distribution value is p_(1j) ⁽³²⁰⁾. (307) is thedomain of the scale of the second probability distribution of theprobability distribution (320), and the scale spacing between 303 and304 is D_(2j) ⁽³²⁰⁾ and within this domain, the probability distributionvalue is p_(2j) ⁽³²⁰⁾. (308) is the domain of the scale of the thirdprobability distribution of the probability distribution (320). Thescale spacing between 304 and 305 is D_(3j) ⁽³²⁰⁾ and within thisdomain, the probability distribution value is p_(3j) ⁽³²⁰⁾.

Similarly, (310) is the central point of the probability distribution(330). (311) is the scale of the first probability distribution value ofthe probability distribution (330), (312) is the scale of the secondprobability distribution value of the probability distribution (330),and (313) is the scale of the third probability distribution value ofthe probability distribution (330). In addition, (314) is the domain ofthe scale of the first probability distribution of the probabilitydistribution (330) and the scale spacing between 310 and 311 is D_(1j)⁽³³⁰⁾, and within this domain, the probability distribution value isp_(1j) ⁽³³⁰⁾. (315) is the domain of the scale of the second probabilitydistribution of probability distribution (330) and the scale spacingbetween 311 and 312 is D_(2j) ⁽³³⁰⁾ and within this domain, theprobability distribution value is p_(2j) ⁽³³⁰⁾. (316) is the domain ofthe scale of the third probability distribution of the probabilitydistribution (330), and the scale spacing between 312 and 313 is D_(3j)⁽³³⁰⁾ and within this domain, the probability distribution value isp_(3j) ⁽³³⁰⁾.

Furthermore, the probability distribution centers for probability spaces(320) and (330) are set to be the elements w_(j)∈W and v_(j)∈V of thetwo data sets of (302) and (310). Then a straight line is connectedbetween the probability distribution center (302) and (310), and thereis any point r_(j)∈R in the middle of the line, then determine whetherany point r_(j)∈R belongs to probability space (320) or probabilityspace (330).

Then m_(j) ^((wj)) is set to be the number of probability distributionscales between r_(j)∈R and the probability distribution center w_(j)∈W,and m_(j) ^((wj)) is the number of probability distribution scalesbetween r_(j)∈R and the probability distribution center v_(j)∈V. Forexample, in FIG. 3 , m_(i) ^((wj))=3, p_(ij) ^(wj))=p_(ij) ⁽⁵²⁰⁾, p_(ij)^((vj))=p_(ij) ⁽⁵³⁰⁾ [i=1, 2 . . . , (m_(j) ^((wj))=m_(j) ^((wj))].

Then, between the set V of probability space (330) and the set W ofprobability space (320), the distance G (V, W) between Euclidean spaceand probability space can be unified and calculated with the followingformula.

$\begin{matrix}{{\left( {V,W} \right) = {{\left\{ \sqrt[2]{\sum\limits_{j = 1}^{m}\left( {r_{j} - v_{j}} \right)^{2}} \right\} + \left\{ \sqrt[2]{\sum\limits_{j = 1}^{m}\left( {r_{j} - w_{j}} \right)^{2}} \right\}} = {\left\{ \sqrt[2]{\sum\limits_{j = 1}^{m}\left( {v_{j} - w_{j}} \right)^{2}} \right\} = \left\{ \sqrt[2]{\sum\limits_{j = 1}^{m}\left( {w_{j} - v_{j}} \right)^{2}} \right\}}}}{\left( {r_{j} - v_{j}} \right) = \left\{ {{\begin{matrix}0 & {{❘{r_{j} - v_{j}}❘} \leq \Delta_{j}^{({vj})}} \\{{❘{r_{j} - v_{j}}❘} - \Delta_{j}^{({vj})}} & {{❘{r_{j} - v_{j}}❘} > \Delta_{j}^{({vj})}}\end{matrix}\left( {r_{j} - w_{j}} \right)} = \left\{ {{\begin{matrix}0 & {{❘{r_{j} - w_{j}}❘} \leq \Delta_{j}^{({wj})}} \\{{❘{r_{j} - w_{j}}❘} - \Delta_{j}^{({wj})}} & {{❘{r_{j} - w_{j}}❘} > \Delta_{j}^{({wj})}}\end{matrix}\left( {v_{j} - w_{j}} \right)} = {\left( {w_{j} - v_{j}} \right) = \left\{ {{\begin{matrix}0 & {{❘{v_{j} - w_{j}}❘} \leq \left( {\Delta_{j}^{({vj})} + \Delta_{j}^{({wj})}} \right)} \\{{❘{v_{j} - w_{j}}❘} - \left( {\Delta_{j}^{({vj})} + \Delta_{j}^{({wj})}} \right)} & {{❘{v_{j} - w_{j}}❘} > \left( {\Delta_{j}^{({vj})} + \Delta_{j}^{({wj})}} \right)}\end{matrix}{Wherein}\Delta_{j}^{({vj})}} = {{\sum\limits_{i = 1}^{m_{j}^{({vj})}}{D_{ij}^{({vj})}{P_{ij}^{({vj})}.{In}}{addition}\Delta_{j}^{({wj})}}} = {\sum\limits_{i = 1}^{m_{j}^{({wj})}}{D_{ij}^{({wj})}P_{ij}^{({wj})}}}}} \right.}} \right.} \right.}} & \left\lbrack {{Formula}9} \right\rbrack\end{matrix}$

The above formula is based on: as the distance between the set V ofprobability space and the set W of probability space, a point set Rbetween the set V and the set W can be introduced, the distance betweenthe set R and set V of the probability space is added to the distancebetween the set R and set W of the probability space, whether theprobability space 330 and the probability space 320 is the probabilitythat occurs simultaneously, the distance between the set V ofprobability space and the set W of probability space is set up, andsatisfy the symmetry of the distance scale and the triangle inequality.

In the above formula, (Δ_(j) ^((vj))+Δ_(j) ^((wj))) is in theprobability space 320 and 330, because the distance of the probabilityspace in the region where the probability distribution is “1” should be“0”, so it is the error value between Euclidean distance and thedistance of the probability space, the strict distance of probabilityspace 320 and 330 that can unify Euclidean space and probability spacecan be obtained with removal of the two error values.

A method of obtaining the distance between Euclidean space andprobabilistic space is presented in FIG. 3 , which is characterized bythe existence of at least one probability space in Euclidean space, andwhen traversing a region of probability space, the probability distanceof this interval is related to the probability value of the regionthrough which it passes.

The above-mentioned Euclidean spaces can be extended: including one ofManhattan Space; Chebyshev Space; Minkowski Space; Mahalanobis Space;and the Cosine Space

The above-mentioned Formula (9) can unify the distance between Euclideanspace and probability space, and satisfy the following distanceconditions.

(1) Non-negativity: ∀w, v, d(w, v)≥0;

(2) Non-degeneracy: d(w, v)=0, then w=v;

(3) Symmetry: ∀w,v, d(w,v)=d(v,w)

(4) Triangular inequality: ∀w,r,v d(w,v)≤d(w,r)+d(r,v)

On the basis that the Formula 9 can unify the distance between Euclideanspace and probability space, and has all the conditions of distancescale, a more rigorous scale formula of fuzzy event probabilitymeasurement can be introduced as follows.

As mentioned above, when considering the fuzzy event probabilitymeasurement between r_(j)∈R and the central value v_(j)∈V of probabilitydistribution value of probability space (330), if r_(j)∈R happens to bein some region of probability distribution of probability space (330),the probability distribution value of this region can be set to be equalto pf_(j) ^((vj)), and in addition, the central value of the probabilitydistribution value w_(j)∈W of accidental probability space (320) is justin some region of the probability distribution of the probability space(330), the probability distribution value can be set to be equal topf_(j) ^((wj)) which is equivalent to almost coincidence of the twoprobability distributions.

According to formula 9, the formula of fuzzy event probabilitymeasurement that set R belongs to set V can be derived from thefollowing formula:

$\begin{matrix}{{F^{(v)} = {{\left\{ {\sum\limits_{j = 1}^{n}\left\lbrack {1 - \frac{\left( {r_{j} - v_{j}} \right)^{2}}{\left( {w_{j} - v_{j}} \right)^{2}}} \right\rbrack} \right\} \times 100} = {\left\{ {\sum\limits_{j = 1}^{n}\left\lbrack {1 - \frac{\left( {v_{j} - r_{j}} \right)^{2}}{\left( {v_{j} - w_{j}} \right)^{2}}} \right\rbrack} \right\} \times 100}}}{\left( {r_{j} - v_{j}} \right) = {\left( {v_{j} - r_{j}} \right) = \left\{ {{\begin{matrix}0 & {{❘{r_{j} - v_{j}}❘} \leq {\beta_{j}^{({vj})}\Delta_{j}^{({vj})}}} \\{{❘{r_{j} - v_{j}}❘} - {\beta_{j}^{({vj})}\Delta_{j}^{({vj})}}} & {{❘{r_{j} - v_{j}}❘} > {\beta_{j}^{({vj})}\Delta_{j}^{({vj})}}}\end{matrix}\left( {w_{j} - v_{j}} \right)} = {\left( {v_{j} - w_{j}} \right) = \left\{ {{\begin{matrix}0 & {{❘{w_{j} - v_{j}}❘} \leq {\alpha_{j}\left( {\Delta_{j}^{({wj})} + \Delta_{j}^{({vj})}} \right)}} \\{{❘{w_{j} - v_{j}}❘} - {\alpha_{j}\left( {\Delta_{j}^{({wj})} + \Delta_{j}^{({vj})}} \right)}} & {{❘{w_{j} - v_{j}}❘} > {\alpha_{j}\left( {\Delta_{j}^{({wj})} + \Delta_{j}^{({vj})}} \right)}}\end{matrix}{Wherein}},{\Delta_{j}^{({wj})} = {{\sum\limits_{i = 1}^{m_{j}^{({wj})}}{D_{ij}^{({wj})}P_{ij}^{({wj})}\Delta_{j}^{({vj})}}} = {\sum\limits_{i = 1}^{m_{j}^{({vj})}}{D_{ij}^{({vj})}{P_{ij}^{({vj})}.{In}}{addition}}}}},{\beta_{j}^{({vj})} = {{\left( {1 + {Pf}_{j}^{({vj})}} \right)\alpha_{j}} = \left( {1 + {Ph}_{j}^{({vj})} + {Ph}_{j}^{({wj})}} \right)}}} \right.}} \right.}}} & \left\lbrack {{Formula}10} \right\rbrack\end{matrix}$

According to the above-mentioned Formula 9 and Formula 10, D_(ij)^((wj)) D_(ij) ^((wj)) and D_(ij) ^((vj)), p_(ij) ^((wj)) and p_(ij)^((vj)), m_(j) ^((wj)) and m_(j) ^((vj)), pf_(j) ^((vj)) and pf_(j)^((wj)), ph_(j) ^((vj)) and ph_(j) ^((wj)) can be calculated,

The formula of fuzzy event probability measurement that set R belongs toset W can be calculated according to the following formula.

$\begin{matrix}{{F^{(w)} = {{\left\{ {\sum\limits_{j = 1}^{n}\left\lbrack {1 - \frac{\left( {r_{j} - w_{j}} \right)^{2}}{\left( {v_{j} - w_{j}} \right)^{2}}} \right\rbrack} \right\} \times 100} = {\left\{ {\sum\limits_{j = 1}^{n}\left\lbrack {1 - \frac{\left( {w_{j} - r_{j}} \right)^{2}}{\left( {w_{j} - v_{j}} \right)^{2}}} \right\rbrack} \right\} \times 100}}}{\left( {r_{j} - w_{j}} \right) = {\left( {w_{j} - r_{j}} \right) = \left\{ {{\begin{matrix}0 & {{❘{r_{j} - w_{j}}❘} \leq {\beta_{j}^{({wj})}\Delta_{j}^{({wj})}}} \\{{❘{r_{j} - w_{j}}❘} - {\beta_{j}^{({wj})}\Delta_{j}^{({wj})}}} & {{❘{r_{j} - w_{j}}❘} > {\beta_{j}^{({wj})}\Delta_{j}^{({wj})}}}\end{matrix}\left( {v_{j} - w_{j}} \right)} = {\left( {w_{j} - v_{j}} \right) = \left\{ {{\begin{matrix}0 & {{❘{v_{j} - w_{j}}❘} \leq {\alpha_{j}\left( {\Delta_{j}^{({vj})} + \Delta_{j}^{({wj})}} \right)}} \\{{❘{v_{j} - w_{j}}❘} - {\alpha_{j}\left( {\Delta_{j}^{({vj})} + \Delta_{j}^{({wj})}} \right)}} & {{❘{v_{j} - w_{j}}❘} > {\alpha_{j}\left( {\Delta_{j}^{({vj})} + \Delta_{j}^{({wj})}} \right)}}\end{matrix}{Wherein}},{\Delta_{j}^{({wj})} = {{\sum\limits_{i = 1}^{m_{j}^{({wj})}}{D_{ij}^{({wj})}P_{ij}^{({wj})}\Delta_{j}^{({vj})}}} = {\sum\limits_{i = 1}^{m_{j}^{({vj})}}{D_{ij}^{({vj})}{P_{ij}^{({vj})}.{In}}{addition}}}}},{\beta_{j}^{({wj})} = {{\left( {1 + {Pf}_{j}^{({wj})}} \right)\alpha_{j}} = \left( {1 + {Ph}_{j}^{({vj})} + {Ph}_{j}^{({wj})}} \right)}}} \right.}} \right.}}} & \left\lbrack {{Formula}11} \right\rbrack\end{matrix}$

Finally, according to Formula 10 and Formula 11, the results ofsuper-depth antagonistic learning can be obtained through the followingformulas:F=(F ^((W)) /F ^((V)))  [Formula 12]

According to formula 12, arbitrary set R is in the two probabilitydistributions and the best classification can be obtained. The same asFormula 9, Formula 10 and Formula 11 also satisfy all the conditions ofthe distance scale.

The antagonistic learning of the above formula 12 can also start toconfront from the microcosmic as shown in formula 13.

$\begin{matrix}{{F = {{\left\{ {\sum\limits_{j = 1}^{n}\left\lbrack {1 - \frac{\left( {r_{j} - w_{j}} \right)^{2}}{\left( {r_{j} - v_{j}} \right)^{2}}} \right\rbrack} \right\} \times 100} = {\left\{ {\sum\limits_{j = 1}^{n}\left\lbrack {1 - \frac{\left( {w_{j} - r_{j}} \right)^{2}}{\left( {v_{j} - r_{j}} \right)^{2}}} \right\rbrack} \right\} \times 100}}}{\left( {r_{j} - w_{j}} \right) = {\left( {w_{j} - r_{j}} \right) = \left\{ {{\begin{matrix}0 & {{❘{r_{j} - w_{j}}❘} \leq {\beta^{({wj})}\Delta_{j}^{({wj})}}} \\{{❘{r_{j} - w_{j}}❘} - {\beta^{({wj})}\Delta_{j}^{({wj})}}} & {{❘{r_{j} - w_{j}}❘} > {\beta^{({wj})}\Delta_{j}^{({wj})}}}\end{matrix}\left( {r_{j} - v_{j}} \right)} = {\left( {v_{j} - r_{j}} \right) = \left\{ {{{\begin{matrix}0 & {{❘{r_{j} - v_{j}}❘} \leq {\beta_{j}^{({vj})}\Delta_{j}^{({vj})}}} \\{{❘{r_{j} - v_{j}}❘} - {\beta_{j}^{({vj})}\Delta_{j}^{({vj})}}} & {{❘{r_{j} - v_{j}}❘} > {\beta_{j}^{({vj})}\Delta_{j}^{({vj})}}}\end{matrix}\Delta_{j}^{({wj})}} = {{\sum\limits_{i = 1}^{m_{j}^{({wj})}}{D_{ij}^{({wj})}P_{ij}^{({wj})}\Delta_{j}^{({vj})}}} = {\sum\limits_{i = 1}^{m_{j}^{({vj})}}{D_{ij}^{({vj})}{P_{ij}^{({vj})}.{In}}{addition}}}}},{\beta_{j}^{({wj})} = {{\left( {1 + {Pf}_{j}^{({wj})}} \right)\beta_{j}^{({vj})}} = \left( {1 + {Pf}_{j}^{({vj})}} \right)}}} \right.}} \right.}}} & \left\lbrack {{Formula}13} \right\rbrack\end{matrix}$

Formula 13 is a formulaic antagonistic learning model, which canintegrate the micro-uncertain spatial information and the randomprobability information through antagonism, and produce deterministic,stable and valuable information microscopically, which is thesuperiority of the antagonistic learning based on fuzzy eventprobability measurement.

The above-mentioned formula of membership function of the fuzzy eventprobability measurement is just an example, which is arbitrary formulacomposition that can form the objective function to the fuzzy value of0-1 according to a given rule, or considering formula composition offuzzy information and probability information, or considering theformula composition of spatial information and probability informationto be within the scope of the invention.

FIG. 4 is a flow diagram of the extraction of the overallcharacteristics of the lane environment.

As shown in FIG. 4 : Through the learning program of overallcharacteristics of Lane environment, the overall RGB image of the Laneenvironment can be read or the RGB image can be converted into Labimage, and then the overall characteristics of the Lane environment canbe obtained by the following 7 steps. The whole image of Laneenvironment mainly shows the characteristics of environment, such asday, night, cloudy day, sunny day, when the road lighting is good, whenthe road lighting is bad and so on.

S4 ₁ is the step of reading RGB image: In this step, the entire RGBimage of the Lane environment read, or the RGB image is converted to Labimage, in order to prevent the image brightness from affecting therecognition accuracy, the brightness is removed, only four colors of +a,−a, +b, −b are used.

S4 ₂ is the step of selecting a color image: select one of three colorsof R color, G color and B color, or one of four colors of +a color, −acolor, +b color, −b color of Lab color to process.

S4 ₃ is the calculation step of maximum probability gray-scale value: Inthis step, the subroutine of “maximum probability gray-scale valuecalculation” is called to determine the maximum gray-scale value ofmaximum probability of given color image.

S4 ₄ is the inversion step of image gray-scale: considering to extracttwo eigenvalues for the overall image of one color Lane environment,eigenvalue of maximum gray-scale value and eigenvalue of minimumgray-scale value, 6 eigenvalues can be extracted from R color, G colorand B color, or 8 eigenvalues can be extracted from four colors of +acolor, −a color, +b color and −b color.

S4 ₅ is the calculation step of maximum probability gray-scale value:the same as the third step S4 ₃, in which the subroutine of “maximumprobability gray-scale value calculation” is called to determine theminimum gray-scale value of the maximum probability of given colorimage.

S4 ₆ is the judgment step to complete the extraction of characteristics:whether the two image characteristics of the maximum gray-scale value ofthe maximum probability and the minimum gray-scale value of the maximumprobability of one image of the three colors R, G, B, or one image ofthe four colors +a color, −a color, +b color of Lab color are completelyextracted? If the image is not fully extracted and another color isselected for processing, then jump to the second step S4 ₃, and go tothe next step if it is fully extracted.

S4 ₇ is the return step: Return the main program. The calculation of themaximum probability gray-scale value is carried out by the followingmethods.

FIG. 5 shows a calculation flow diagram for obtaining the maximumprobability gray-scale value.

As shown in FIG. 5 : the calculation of maximum probability gray-scalevalue of given color image is accomplished through the following 5steps.

S5 ₁ is the initialization step: In this step, the maximum number ofiterations equal to MN is set, generally 5-10 times is selected, thenthe iteration progress constant equal to v is set mainly to determinewhether the iteration is still effective.

S5 ₂ is the step for determining the average and variance of thegray-scale value:

A image is set to equal to n×m pixel a_(ij), (i=1, 2, . . . , n, j=1, 2,. . . m), and the average gray-scale value of the k^(th) iteration of animage is set to equal to g^((k)):

$\begin{matrix}{g^{(k)} = {\frac{1}{n \times m}{\sum\limits_{i}^{n}{\sum\limits_{j}^{m}a_{ij}}}}} & \left\lbrack {{Formula}14} \right\rbrack\end{matrix}$

The disperse of probability distribution of the gray-scale value of animage is as:

$\begin{matrix}{S^{(k)} = \sqrt[2]{\frac{1}{{n*m} - 1}{\sum\limits_{i}^{n}{\sum\limits_{j}^{m}\left( {a_{ij} - g^{(k)}} \right)^{2}}}}} & \left\lbrack {{Formula}15} \right\rbrack\end{matrix}$

S5 ₃ is the self-organizing processing step: taking g^((k)) as thecenter, taking S^(2(k)) as the two boundary, that is maximum probabilityscale, preserving the pixel that conforms to the boundary and removingthe pixel outside the boundary, then constituting a new set of pixels,that is the new maximum probability space.

S5 ₄ is the judgment step of iteration completion: the iteration numberreturn subtracts the maximum number, that is (MN−k)=0?, or|S^(2(k+1))−S^(2(k))|≤v? If “yes”, then the iteration is completed, jumpto the fifth step S₅, and if “no”, then jump to the second step S₂ tocontinue iteration processing.

S5 ₅ is the iteration return step: Return the main program.

In order to extract the Lane image, a local characteristics extractionmethod is required, which is to extract the eigenvalue of gray-scaleimage of the Lane image according to the marking range of the given Laneand the eigenvalue of the gray-scale difference between the Lane and theLane background.

Following the above-mentioned characteristics extraction method ofoverall characteristics of Lane environment, firstly, the machinelearning method of the maximum probability gray-scale value of FIG. 5 isused to determine maximum probability gray-scale value of the R color, Gcolor, B color image, or +a color, −a color, +b color, −b color image inthe set of Lane pixels respectively, and determine the maximumprobability gray-scale value of R, G and B color image of the non-Laneto obtain 6 maximum probability gray-scale value, or obtain 8 maximumprobability gray-scale values from +a color, −a color, +b color imagerespectively, the maximum probability gray-scale values of RGB threecolors subtract the maximum probability gray-scale values of RGB threecorresponding colors of non-Lane respectively, or the maximumprobability gray-scale values of +a color, −a color, +b color, −b colorof Lane subtract the maximum probability gray-scale value of the fourcorresponding colors of the non-Lane, wherein the absolute value for theresult is selected, then the three eigenvalues of three Lane differencesare obtained, and the three eigenvalues of the maximum probabilitygray-scale values of RGB three colors of Lane itself, together with theoverall characteristics of 6 Lane environments, there are totally 12eigenvectors which can reflect the eigenvector composed of eigenvalue ofLane images, or four eigenvalues of Lane difference of four colors of +acolor, −a color, +b color, −b color, two Lanes are eigenvalue of eightLane differences, and the four eigenvalues of the maximum probabilitygray-scale value of four colors +a color, −a color, +b color of Laneitself, the two Lanes are eigenvalue of eight Lane differences, plus theoverall characteristics of the six Lane environments, there are totally22 eigenvectors which can reflect the eigenvector composed of eigenvalueof the Lane images.

The concrete image extraction of Lane is carried out through two steps,a Lane marks learning step, in which the machine learns from human beingof “What is the Lane image”? An eigenvector query data which can expressthe characteristics of Lane image saved in the database is generated bymachine learning. The data tagging technology used here is to do themachine learning with the tagged data and obtain the probabilitydistribution of the tagged data, so the large data tagging effectrequired for traditional deep learning can be realized only by usingdata tagging of small data.

Another step to extract the Lane image is to use the Lane environmentimage which is read online. Through the above-mentioned method, 22sample eigenvalues are obtained, and 22 sample eigenvalues and thefeature query data stored in the database are used to do the calculationthat can unify the distance between Euclidean space and probabilityspace, wherein the gray-scale value of Lane in the nearest eigenvectorcan be found out as the gray-scale value of Lane of the sample image,the gray-scale value of RGB three images is extracted, or the gray-scalevalue of +a color, −a color, +b color of four images is extracted, thena Lane image can be obtained.

FIG. 6 is a flow diagram showing the machine learning for the imagecharacteristics of a lane. As shown in FIG. 6 , the overall imagefeature learning in the Lane environment is performed as the following 9steps.

S6 ₁ is the initialization step: the times of learning is set, one timeof learning for the overall image of a Lane environment is carried out.The times of learning is set to be equal to g.

S6 ₂ is the step of reading the learned video image: the video imagethat needs to be learned is read.

S6 ₃ is the function conversion step: the machine learning function ofthe image feature of Lane environment and in time switch processing ofLane detection function is carried out, which make Lane tagging workdirectly by hand in the automatic drive.

S6 ₄ is the lane marking judgment step: to determine if the video imagehas been tagged, if “yes”, turn to the next step S₅, if “no”, return toS₂ step to continue to read the video image.

S6 ₅ is step of extraction of characteristics of Lane image: In thisstep, firstly, the above subroutine of “extraction of characteristics ofenvironment integral image” is called, at the same time, according tothe tagged location, the above Lane local extraction of characteristicsis carried out, and then an eigenvector composed of 12 eigenvalues isobtained.

S6 ₆ is the login step of machine learning data: the extraction value ofthe overall characteristics of environment integral image obtained fromthe above subroutine of “extraction of characteristics of environmentintegral image” is logged in, and the eigenvectors composed of the total12 eigenvalues of Lane local eigenvalue is logged in database.

S6 ₇ is to judges whether the learning is complete: judge whether themachine learning of g times has been completed, if “yes”, turn to thenext step, if “no”; turn to the second step S₂.

S6 ₈ is the data processing steps of machine learning: In this step, theg times of learning by the same Lane image, through machine learning,gets a maximum probability eigenvector of 12 maximum probability valuefrom the g eigenvectors that are composed of 12 eigenvaluesrespectively, and 12 maximum probability scale, then, according to thestatistical probability distribution characteristics, the maximumprobability value and the maximum probability scale constitute themaximum probability distribution information of Lane image. S₉ is theend: program processing is completed.

FIG. 7 is a flow diagram of the image extraction of a lane. As shown inFIG. 7 : the Lane image extraction can be determined according to thefollowing steps:

S7 ₁ is the initialization step: Probability scale, 2× variance of theminimum distance, which is the value in the record corresponding to theminimum distance.

S7 ₂ is the step of reading the sample image: an image in the Laneenvironment image video is read.

S7 ₃ is the step of determining eigenvalue: determine the 6 eigenvaluesof background images from RGB three colors images of sample imagerespectively, and the Lane difference features include 12 left-rightlane features, total 18 features. Attention should be paid to theeigenvalue data corresponding to three RGB color after learning or forthe Lab color image of sample image, determining 8 eigenvalues of thebackground image respectively, and Lane difference characteristicsinclude 16 lane characteristics including left and right lane, a totalof 24 characteristics.

S7 ₄ steps for calculating sample eigenvalue distance:

The image of Lane environment in different state is set to be equal toF^(z) (z=1, 2, . . . , g). Each image F^(z) can produce hcharacteristics, and the maximum probability eigenvalue data:L_(ij)∈L_(j) (i=1, 2, . . . , h, j=1, 2, . . . , g), and the maximumprobability scale data M_(ij)∈M_(j) (i=1, 2, . . . , h, j=1, 2, . . . ,g) can be learned by h×g machines, that is:

$\begin{matrix}{\begin{pmatrix}{L_{11},L_{11},\ldots,L_{1h}} \\{L_{21},L_{21},\ldots,L_{2h}} \\\ldots \\{L_{g1},L_{g1},\ldots,L_{gh}}\end{pmatrix}{And}} & \left\lbrack {{Formula}16} \right\rbrack\end{matrix}$ $\begin{matrix}{\begin{pmatrix}{M_{11},M_{11},\ldots,M_{1h}} \\{M_{21},M_{22},\ldots,M_{2h}} \\\ldots \\{M_{g1},M_{g1},\ldots,M_{gh}}\end{pmatrix}.} & \left\lbrack {{Formula}17} \right\rbrack\end{matrix}$The characteristics data S_(j)∈S (j=1, 2, . . . , h) of known sample is:

-   -   (S₁, S₂, . . . , S_(h),)        The distance between sample characteristics data S_(j)∈S (j=1,        2, . . . , h) and the data L_(i) of machine learning data after        the i^(th) login is:

$\begin{matrix}{{{G^{(i)}\left( {S,L} \right)} = \sqrt{\sum\limits_{j = 1}^{h}\left( {S_{j} - \mathcal{L}_{j}} \right)^{2}}}{Wherein}{\left( {S_{j} - \mathcal{L}_{j}} \right) = \left\{ \begin{matrix}0 & {{❘{S_{j} - \mathcal{L}_{j}}❘} \leq M_{j}} \\{{❘{S_{j} - \mathcal{L}_{j}}❘} - M_{j}} & {{❘{S_{j} - \mathcal{L}_{j}}❘} > M_{j}}\end{matrix} \right.}} & \left\lbrack {{Formula}18} \right\rbrack\end{matrix}$

In the above formula, M_(ij) is the maximum probability scale of thej^(th) eigenvalue of the i^(th) eigenvector, and the probabilitydistance of the maximum probability space constituted between themaximum probability value L_(ij) and the maximum probability spaceM_(ij) is “0”, which can be regarded as the distance error differencebetween Euclidean space and probability space, through subtracting thiserror difference, a simplified formula 17 that unify Euclidean space andthe probability space-plus distance can be obtained.

S7 ₅ is the calculation steps of minimum distance: For the g maximumprobability eigenvector of formula 16 and g maximum probability scaleeigenvector of formula 17, the h distance can be obtained from thesample eigenvector of formula 18 calculated:

Determine the minimum distance min G^((i)).

-   -   G⁽¹⁾, G⁽²⁾, . . . , G^((h))

S7 ₆ is the extraction step of Lane: The maximum probability gray-scalevalue of RGB three colors of the Lane image that the i^(th) eigenvectorcorresponds as mentioned above, or the maximum probability gray-scalevalue of four colors of Lab color, can extract the lane as thegray-scale value of the Lane image. S7 ₇ is the end: program processingis over.

FIGS. 8A-8B show effect drawings illustrating the lane lineapproximation by automatic machine learning.

As shown in FIGS. 8A-8B is an iteration process of automatic machinelearning approaching to the Lane, it can be clearly seen that the Laneis approached further than the previous iteration. FIG. 8B is therecognition result of Lane and the best approximation Lane is clearlyseen.

FIGS. 9A-9B shows an effect figure of the image extraction of a laneline importing into the SDL model.

As shown in FIGS. 9A-9B: Compared with the traditional binarizationimage, in the effect of the image extraction of Lane importing into SDLmodel, the Lane is extracted very clearly and there is no interferenceimage around it, so the precision of Lane detection is higher than thatof traditional method.

In order to prevent the extraction of Lane image from reducing thelearning times of Lane image, the relationship of each color of Lane andbackground image can be built, such as the ratio of the gray scale of acertain color of Lane and the maximum gray scale of background image, orthe ratio of the gray scale of a certain color of Lane and the minimumgray scale of background image.

Alternatively, the gray scale of Lane color can be found out by means ofantagonistic learning, the maximum probability value that is not theapproached of Lane but less than the gray-scale value of Lane, and themaximum probability value that is not the approached of Lane but morethan the gray-scale value of Lane. The antagonistic learning of the lanebetween these two values is allowed to carry out to find the probabilitydistribution of the difference between the Lane and these two values,and the lane and the adjacent image (for example, the Lane is on theroad, the two side images are road images, with the characteristics ofthe general low gray-scale value). Then the extracted eigenvector ofLane is obtained as the basis of Lane extraction.

The above-mentioned image extraction method for importing SDL modelcomprises the part of eigenvector generation and the part of imageextraction.

The part of eigenvector generation part: the gray-scale value of eachcolor of the image required to be extracted is the main pluraleigenvalue; Or the plural eigenvalues of the difference between thegray-scale value of each color of required image and the colorgray-scale value of other image is set up; The above eigenvectorcorresponds to the gray-scale value of each color of the required image;For different images, plural times' training for each eigenvalue of theeigenvector is carried out to obtain the maximum probability value,space and scale of each eigenvalue in the eigenvectors; Then the resultsare logged into the database.

The part of image extraction: For the sample image data, eigenvector isdetermined according to the above methods; the distance between theeigenvector of the sample image and each eigenvector registered in thedatabase and the distance that can unify the Euclidean space and theprobability space is calculated, and the gray-scale value of each colorof the required image in the eigenvector learned with the smallestdistance is found out. The part of image extraction: For the sampleimage data, eigenvector is determined according to the above methods.

The above-mentioned maximum probability space, as shown in FIG. 5 ; isthe space enclosed by the maximum probability scale S^(2(k)) obtainedfrom the iteration result of self-organizing machine learning ofprobability scale, which takes the maximum probability g^((k)) as centerand the space enclosed by the maximum probability scale S^(2(k)). Thedescribed maximum probability distribution can be referred to theformula 18, which is composed of the maximum probability value g^((k))obtained from the iteration result of self-organizing machine learningof probability scale and the maximum probability scale S^(2(k)).

The edge image processing method is also proposed in the presentinvention. In automatic drive car, the binocular camera is required inthe optical recognition environment image, in order to quickly read thevideo data of binocular camera, generally FPGA chip is used to achieveit, however, FPGA can only start from the binary image processing, inaddition, in order to recognize the vehicle environment image with highprecision and high speed, it is necessary to transform the binarizationimage of video image read by binocular camera into edge image, herepropose a transform method of edge image with high precision.

Firstly, the calculation of image by the first derivative method iscarried out. The function expression of the two-dimensional image is setto be equal to F (x, y). The method to determine the first derivativefor the image is as follows:

$\begin{matrix}{{\frac{{\partial\mathcal{F}}\left( {x,y} \right)}{\partial x} = {\frac{1}{2}\left\lbrack {{\mathcal{F}\left( {{x + 1},y} \right)} - {\mathcal{F}\left( {{x - 1},y} \right)}} \right\rbrack}}{\frac{{\partial\mathcal{F}}\left( {x,y} \right)}{\partial y} = {\frac{1}{2}\left\lbrack {{\mathcal{F}\left( {x,{y + 1}} \right)} - {\mathcal{F}\left( {x,{y - 1}} \right)}} \right\rbrack}}} & \left\lbrack {{Formula}19} \right\rbrack\end{matrix}$The derivative for the image is as follows:

$\begin{matrix}{{\frac{\partial^{2}{\mathcal{F}\left( {x,y} \right)}}{\partial x} = {\frac{1}{2}\left\lbrack {\frac{\partial{\mathcal{F}\left( {{x - 1},y} \right)}}{\partial x} - \frac{\partial{\mathcal{F}\left( {{x + 1},y} \right)}}{\partial x}} \right\rbrack}}{\frac{\partial^{2}{\mathcal{F}\left( {x,y} \right)}}{\partial x} = {{\frac{1}{2}{\mathcal{F}\left( {x,y} \right)}} - {\frac{1}{4}{\mathcal{F}\left( {{x - 2},y} \right)}} - {\frac{1}{4}{\mathcal{F}\left( {{x + 2},y} \right)}}}}} & \left\lbrack {{Formula}20} \right\rbrack\end{matrix}$ $\begin{matrix}{{\frac{\partial^{2}{\mathcal{F}\left( {x,y} \right)}}{\partial y} = {\frac{1}{2}\left\lbrack {\frac{\partial{\mathcal{F}\left( {x,{y - 1}} \right)}}{\partial y} - \frac{\partial{\mathcal{F}\left( {x,{y + 1}} \right)}}{\partial y}} \right\rbrack}}{\frac{\partial^{2}{\mathcal{F}\left( {x,y} \right)}}{\partial y} = {{\frac{1}{2}{\mathcal{F}\left( {x,y} \right)}} - {\frac{1}{4}{\mathcal{F}\left( {x,{y - 2}} \right)}} - {\frac{1}{4}{\mathcal{F}\left( {x,{y + 2}} \right)}}}}} & \left\lbrack {{Formula}21} \right\rbrack\end{matrix}$

The machine learning import method for determining derivation of image.Determining derivation of image can cause strong noise, in order tosuppress noise, the Prewitt algorithm and Sobel algorithm aretraditionally used, here, a probability scale self-organizing machinelearning algorithm is introduced, which can determine the derivativevalue of the maximum probability of a pixel in the middle from thederivative of the plural of pixels.

FIG. 10 illustrates a method diagram for solving the derivative value ofthe maximum probability.

As shown in FIG. 10 , take the pixel F(x, y) as center, determine thefirst derivative values of 25 pixels of 5*5 pixel, and determine themaximum probability values within the 25 derivative values by theprobability scale self-organizing machine learning shown in FIG. 5 ,make the maximum probability derivative value be the formal derivationvalue of center point F(x, x). The derivative value of the entire imageis calculated according to the horizontal and vertical translation ofeach point and then in this way, the calculation of the whole image iscomplete.

For the above-mentioned maximum probability value of the firstderivative obtained by the maximum probability self-organizing model,“0” is set for the pixel less than “the maximum probability value of thefirst derivative value”, and the pixel larger than “the maximumprobability value of the first derivative value” is conserved and set“256”, then the result of edge image can be obtained, or “256” is setfor the pixel of the maximum probability space within the maximumprobability scale of the first derivative value by using the maximumprobability self-organizing model, and “0” is set for the other pixels.

Based on this result, the first derivative of 25 pixels with 5*5following the above derivative method can be determined again in orderto get the result of the second derivative. The second derivative canalso be determined directly according to the formula (20) and (21)above. After calculating the second derivative of image pixels, eachgray-scale value of the second derivative can be determined the maximumprobability value of the gray-scale value of the second derivative valueby using the maximum probability self-organizing model shown in FIG. 5 ,that is, “0” gray scale is set for the pixel less than of the maximumprobability value of the gray-scale value of the second derivativevalue, and “256” is set for the other pixel, or the same as above, “256”is set for the pixel of the maximum probability space within the maximumprobability scale of the second derivative value by using the maximumprobability self-organizing model, and “0” is set for the other pixels,then the edge image of the second derivative can be obtained.

FIGS. 11A-11B show effect drawings of the marginalization treatment ofan image. From these drawings, it can be seen that the effect ofmarginalized process by using probability scale self-organizing machinelearning is significant. In order to formalize the “machineconsciousness”, the Membership Function is introduced here.

FIGS. 12A-12D show four characteristic curves of the formularizedmembership function of “machine consciousness”. As shown in (a), thesmaller the independent variable value, the larger the MF value ofmembership function, on the contrary, the larger the independentvariable value, the smaller the MF value of membership function. Forexample, the closer the speed of automatic drive car to the safe speed,the smaller the independent variable value, the greater the MF value,indicating that the safer the automatic drive car, on the contrary, themore dangerous the automatic drive car. By using such a formula, thestate of the automatic drive car can be simply described. Here, T is thethreshold value of a dangerous state.

As shown in FIG. 12B, the larger the independent variable value, thelarger the MF value of membership function, and the smaller theindependent variable value, the smaller the MF value of membershipfunction. For example, the greater the distance between an automaticdriving car and a car on the same Lane, the larger independent variablevalue, the larger the MF value, indicating that the safer the automaticdriving car, on the contrary, the more dangerous the automatic drivingcar. By using such a formula, the driving state of an automatic drivingcar based on the distance between the automatic driving car and thevehicle in the same Lane can be simply described. Here, T is thethreshold value of a dangerous state.

As shown in FIG. 12C: it is a function of the automatic driving “machineconsciousness” reflected from the front to the back by the distance ofcars on the nearby Lane. Initially, when there is a car that aretraveling together on the Lane in front of the automatic driving car,the farther the distance between the automatic drive car and the vehicletraveling together, the higher the MF value, the safer the automaticdriving car. However, because the speed of automatic drive car is largerthan the vehicle traveling together, the two cars are approachinggradually, when reaching the T₁ state, the automatic drive car goes intoa dangerous state. The automatic drive car continues to the vehicletraveling together. When reaching T₂ state, the automatic drive car isout of dangerous state. The farther the distance, the larger the MFvalue, the safer the automatic drive car. As shown in FIG. 12C, it is afunction of the automatic driving “machine consciousness” reflected fromthe front to the back by the distance of cars on the nearby Lane.

As shown in FIG. 12D: Given an optimal value, when the independentvariable is from a higher value and gradually approaches this value, theMF value also approaches to the range of maximum value. When theindependent variable value becomes smaller from the maximum valuegradually, MF value becomes smaller gradually. For example, when thespeed of the automatic drive car is higher than the safety value, andgradually approaches the safety value, the MF value becomes larger fromsmall, and when the speed is less than the T₁ threshold value, theautomatic drive car approaches the safety state. When the speed of theautomatic drive car is lower than the range of the safe value, the lowerthe speed of the automatic drive car compared with the safe value, themore dangerous the automatic drive car.

Because the changing process of security state and danger state is anexponential proportion change, the membership function is required to bea non-linear function. FIG. 13A illustrates a formalized model of the“machine consciousness” of automatic driving. As shown in FIG. 13A, whenthe automatic drive car C₁ travels in a straight Lane, it will encounterthe vehicle C₂ traveling together in front. The distance between thelocation p₁ of the C₁ and the location p₂ of the vehicle C₂ travelingtogether is set to be equal to d₀, and the vehicle C₂′ travelingtogether is also encountered in front of the left lane. The distancebetween the location p₁ of the C₁ and the location p₂′ of the vehicleC₂″ traveling together is set to be equal to d₀′. In addition, thevehicle C₂′ traveling together is also encountered in front of the rightlane, the distance between the location p₁ of the C₁ and the locationp₂′ of the vehicle C₂″ traveling together is set to be equal to d₀″.

Again, the area of the a₁ is a dangerous area for the automatic drivecar in which the C₁ is located, and is absolutely inadmissible. As everycontrol unit of any self-regulating decentralized system, it isnecessary to take self-disciplined measures to eliminate this dangerouscondition at the expense of emergency braking.

Again, the area of a₂ is the second danger area for the automatic drivecar C₁, where emergency brakes can be used to remove the dangerous area.The area of the a₃ is the third danger area for the automatic drive carC₁, in which the C₁ is located, in this area, the automatic drive carhas to enter the area, in which it can't change lanes, but needs toavoid this area as soon as possible.

The speed of the automatic drive car C₁ is set to be equal to S₁, thespeed of the vehicle C₂, C₂′ or C₂″ traveling together is set to beequal to S₂, S₂′ or S₂″, and the initial distance between the automaticdrive car C₁ and C₂, C₂′ or C₂″ traveling together is d₀, d₀′, or d₀″.Then the dynamic distance between C₁ and C₂, C₂′ or C₂ travelingtogether is:d=[d ₀−(s ₁ −s ₂)t].  [Formula 22]

Then, the formula for the dynamic membership function of the distancebetween vehicles is as follows:

$\begin{matrix}{{WD} = {❘{1 - \left\lbrack \frac{20}{d_{0} - {\left( {s_{1} - s_{2}} \right)t}} \right\rbrack^{2}}❘}} & \left\lbrack {{Formula}23} \right\rbrack\end{matrix}$

With this formula, all the machine consciousness of an automatic drivecar during the travel in a straight line can be reflected by formula 23,which is much simpler than the description of machine consciousnessthrough the accumulation of rules.

Further, the probability of traffic accident is 0 when the vehicletraveling together is far away from a₃ area, but in a₁ area, if thevehicle traveling together is the front of the same lane, theprobability of traffic accident is 0.62, in a₂ area, if the vehicletraveling together is the front of the same lane, the probability oftraffic accident is 0.34, in a₃ area, if the vehicle traveling togetheris the front of the same lane, the probability of traffic accident is0.04.

With the existence of the vehicle traveling together, the probabilityvalue of traffic accident is set to be equal to P_(WD), then consideringthe formula of the fuzzy event probability measurement WD_(F) of theprobability information about distance between is as follows:

$\begin{matrix}{{WD}_{F} = {{❘{1 - \left\lbrack \frac{20}{d_{0} - {\left( {s_{1} - s_{2}} \right)t}} \right\rbrack^{2}}❘}\left( {1 - P_{WD}} \right)}} & \left\lbrack {{Formula}24} \right\rbrack\end{matrix}$

In this way, a state of the automatic drive car in the course of drivingis described dynamically by a formula, which can obtain the running inaccordance with “machine consciousness”, and many kinds of roadconditions can be summarized into a formula, which can reduce thecomplexity of the control system.

In the concrete control of automatic drive car, fuzzy inference shouldbe introduced. The format of fuzzy inference is as follows:

If the speed of the automatic drive car C₁ is less than the optimalspeed value OS, and the distance WD between automatic drive car C₁ andthe vehicle C₂ traveling together is less than the threshold value T,and WD″ value of right lane is greater than and equal to the thresholdvalue T for the vehicle C₂″ traveling together, then the automatic drivecar can change the lane to the right lane.

$\begin{matrix}{{OS} = {❘{1 - \frac{s_{1}}{60}}❘}} & \left\lbrack {{Formula}25} \right\rbrack\end{matrix}$

Similarly, if the speed of the automatic drive car C₁ is less than theoptimal speed value OS, the distance WD between the automatic drive carC₁ and the vehicle C₂ traveling together is less than the thresholdvalue T, and the WD′ value of left lane is greater than and equal to 100for the vehicle C₂′ traveling together, then the automatic drive car canchange the lane to the left lane.

The fuzzy inference can also be expressed as follows: If the distance WDbetween the automatic drive car C₁ and the vehicle C₂ traveling togetherin front of the same Lane approaches to the dangerous area a₃, thedistance WD between the automatic drive car C₁ and the vehicle C₃traveling together behind the same Lane also approaches to the dangerousarea a₃, WD′ value of the left lane is greater than and equal to thethreshold value T for the vehicle C₂′ traveling together, then theautomatic drive car can change the Lane to the left lane, or the valueWD″ of the right lane is greater and equal to the threshold value T forthe vehicle C₂ traveling together, then, the automatic drive car changethe Lane to the right lane.

Although the above control method is similar to the knowledge base,because each condition corresponds to a membership function, eachformula can cover many kinds of road conditions, so the number of rulescan be greatly compressed.

The automatic drive car mainly embodies two kinds of “machineconsciousness”, which describes the automatic driving process with amembership function according to the traffic rules, and through fuzzyinference, the relationship is produced by the complicated roadconditions around the driving process, “machine consciousness” forms akind of automatic driving control based on complex road conditionrelation to be able to put forward the best state instructiondecisively.

This application also proposes the use of antagonistic learning to carryout the “machine consciousness” control. Here, the fuzzy eventprobability measurement FP_(−f) is set for the automatic drive car C₁,which needs to speed-up and move forward to approach the front vehicletraveling together, FP_(−f) is set for the fuzzy event probabilitymeasurement of far away from the vehicle traveling together in thefront, FP_(−b) is set for the fuzzy event probability measurement whichneeds to slow down and move forward to approach the vehicle travelingtogether on the back, on the contrary, FP_(−b) is set for the fuzzyevent probability measurement of far away from the vehicle is travelingtogether on the back.

In addition, FP₁ is set for the fuzzy event probability measurement forC₁ to change the lane to left lane, and FP⁻¹ is set for the fuzzy eventprobability measurement for C₁ that can't change the lane to left lane.Similarly, FP_(r) is set for the fuzzy event probability measurement forC₁ to change the lane to right lane, FP_(−r) is set for the fuzzy eventprobability measurement, for C₁ that can't change lane to right lane.

Referring to FIGS. 13A-13B, the fuzzy event probability measurementFP_(f) that the automatic drive car C₁ needs to speed-up and moveforward to approach the front vehicle traveling together depends on thefuzzy event probability measurement WD_(F) (formula) of the distancefrom the vehicle traveling together in the front; The speed s₁ of theautomatic drive car C₁ is lower than the required speed S_(s); Thedistance of rear vehicle traveling together is too close to the nearestdistance D_(S13), and is always in a state of proximity for a certainperiod of time.

$\begin{matrix}{{FP}_{f} = {{w_{71}\left( {WD}_{F12} \right)}\bigcup{w_{72}\left( {1 - \frac{1}{{\omega_{73}\left( {S_{s} - s_{1}} \right)}^{2}}\bigcap 1} \right)}\bigcup{w_{74}\left( {1 - \frac{1}{w_{75}{❘{\left\lbrack {d_{0} - {\left( {s_{1} - s_{2}} \right)t}} \right\rbrack - D_{S13}}❘}^{2}}} \right)}}} & \left\lbrack {{Formula}26} \right\rbrack\end{matrix}$

Wherein, ω71˜ω75 is the weight of each factor, which needs to be chosenin practice. In addition, the fuzzy event probability measurementFP_(−f)=1−FP_(f) is far away from the vehicle traveling together in thefront.

Referring to FIG. 13A below, and then the fuzzy event probabilitymeasurement FP_(b) required for a deceleration close to the rear thevehicle traveling together is formalized. The FP_(b) value depends onthe distance D_(S12) between the automatic drive car C₁ and the vehicletraveling together in the front, which is too close and needs to bepulled away. The speed s₁ of the automatic drive car C₁ is higher thanthe required speed S_(s), and the speed of the vehicle C₃ travelingtogether on the back is slower than the required speed S_(s).

$\begin{matrix}{{FP}_{b} = {{{w_{81}\left\{ {1 - {\omega_{82}\left\{ {\left\lbrack {d_{0} - {\left( {s_{1} - s_{2}} \right)t}} \right\rbrack - D_{S12}} \right\}^{2}}} \right\}}\bigcap 1}\bigcup{w_{83}\left( {1 - \frac{1}{{\omega_{84}\left( {s_{1} - S_{s}} \right)}^{2}}\bigcap 1} \right)}\bigcup{w_{85}\left( {1 - \frac{1}{{\omega_{86}\left( {S_{s} - s_{3}} \right)}^{2}}\bigcap 1} \right)}}} & \left\lbrack {{Formula}27} \right\rbrack\end{matrix}$Wherein, ω₈₁˜ω₈₆ is the weight of each factor and needs to be chosen inpractice. In addition, FP_(−b)=1−FP_(b) is the fuzzy event probabilitymeasurement of far away from the vehicle C₁ traveling together on theback.

Referring again to FIG. 13A, the fuzzy event probability measurement FP₁for C₁ that needs to change lanes to the left lane is formalized. TheFP₁ value depends on the certain distance WD_(F2′) between the automaticdrive car C₁ and the vehicle C₂′ traveling together on the left side ofthe automatic drive car, the speed of the automatic drive car C₁ islower than the required speed S_(s), and the distance [d₀−(s₁−s₂)T]between the automatic drive car C₁ and the vehicle C₂ traveling togetheron the front is too close. And the distance [d₀−(s₁−s₂″)T] between theautomatic drive car and the vehicle traveling together of the right laneC₂″ is also too close; In addition, the FP₁ value depends on the certaindistance between the automatic drive car C₁ and the vehicle C₂′traveling together on the left side of the automatic drive car, thedistance [d₀−(s₁−s₂)T] from the vehicle C₂ traveling together in thefront is too close, at the same, the distance [d₀−(s₁−s₃)T] from thevehicle C₃ traveling together on the back of the vehicle is also tooclose.

$\begin{matrix}{{FP}_{l} = {\left\lbrack {{w_{91}\left( {WD}_{F12^{\prime}} \right)}\bigcap{w_{92}\left( {1 - \frac{1}{{\omega_{93}\left( {s_{1} - S_{s}} \right)}^{2}}\bigcap 1} \right)}\bigcap{w_{94}\left( {1 - \frac{\left\lbrack {d_{0} - {\left( {s_{1} - s_{2}} \right)t}} \right\rbrack^{2}}{\omega_{95}}\bigcap 1} \right)}\bigcap{w_{96}\left( {1 - \frac{\left\lbrack {d_{0} - {\left( {s_{1} - s_{2^{''}}} \right)t}} \right\rbrack^{2}}{\omega_{97}}\bigcap 1} \right)}} \right\rbrack\bigcup{\left\lbrack {{w_{98}\left( {WD}_{F12^{\prime}} \right)}\bigcap{w_{99}\left( {1 - \frac{\left\lbrack {d_{0} - {\left( {s_{1} - s_{2}} \right)t}} \right\rbrack^{2}}{\omega_{100}}\bigcap 1} \right)}\bigcap{w_{101}\left( {1 - \frac{\left\lbrack {d_{0} - {\left( {s_{1} - s_{3}} \right)t}} \right\rbrack^{2}}{\omega_{102}}\bigcap 1} \right)}} \right\rbrack}}} & \left\lbrack {{Formula}28} \right\rbrack\end{matrix}$

Wherein, ω₉₁˜ω₁₀₂ is the weight of each factor, which needs to be chosenin practice. In addition, FP⁻¹=1−FP₁ is the fuzzy event probabilitymeasurement that can't be turned to the left side lane.

Finally, the fuzzy event probability measure FP_(r) for C₁ that needs tochange lanes to the left lane is set. The FP_(r) value depends on thecertain distance between the automatic drive car C₁ and the vehicle C₂″traveling together on the right side, the speed s₁ of the automaticdrive car C₁ is lower than the required speed S_(s) and the distancebetween the automatic drive car C₁ and the vehicle C₂″ travelingtogether on the front side is too close. In addition, the FP₁ valuedepends on the certain distance between the automatic drive car C₁ andthe vehicle C₂″ traveling together on the right side, the distance fromthe vehicle C₂ traveling together on the front is too close and thedistance from the vehicle C₃ traveling together on the rear side is alsotoo close.

$\begin{matrix}{{FP}_{r} = {\left\lbrack {{w_{111}\left( {WD}_{F12^{''}} \right)}\bigcap{w_{112}\left( {1 - \frac{1}{{\omega_{113}\left( {s_{1} - S_{s}} \right)}^{2}}\bigcap 1} \right)}\bigcap{w_{114}\left( {1 - \frac{\left\lbrack {d_{0} - {\left( {s_{1} - s_{2}} \right)t}} \right\rbrack^{2}}{\omega_{115}}\bigcap 1} \right)}} \right\rbrack\bigcup{\left\lbrack {{w_{116}\left( {WD}_{F12^{''}} \right)}\bigcap{w_{117}\left( {1 - \frac{\left\lbrack {d_{0} - {\left( {s_{1} - s_{2}} \right)t}} \right\rbrack^{2}}{\omega_{118}}\bigcap 1} \right)}\bigcap{w_{119}\left( {1 - \frac{\left\lbrack {d_{0} - {\left( {s_{1} - s_{3}} \right)t}} \right\rbrack^{2}}{\omega_{120}}\bigcap 1} \right)}} \right\rbrack}}} & \left\lbrack {{Formula}29} \right\rbrack\end{matrix}$

Wherein, ω₁₁₁˜ω₁₂₀ is the weight of each factor, which needs to bechosen in practice. In addition, FP_(−r)=1−FP_(r) is the fuzzy eventprobability measure that can't be turned to right lane.

The formula 13˜38 actually describes the dynamic safe driving state ofan automatic drive car in a straight lane, the state varies with thechange of speed and the distance it travels. This application proposesto decide whether the automatic drive car C₁ speeds up and moves forwardto the vehicle traveling together in the front, or slows down and movesforward to the vehicle C traveling together, or change lane to the leftlane, or change lane to the right lane by the antagonistic learning.

FIG. 14 illustrates a schematic diagram of the machine decision-makingmechanism.

The machine decision-making mechanism is proposed here, as shown in FIG.14 ; Method of making “machine consciousness” is formed by machinedecision-making mechanism. In the straight lane, in the complicatedrelationship between the passing vehicles, in order to decide whetherthe automatic drive car speeds up, or slows down to approach the rearcar, or changes lanes to the left lane or to the right lane, a linear,decisive and optimal judgment is necessary, so the introduction ofmachine decision-making mechanism is introduced to carry out theprocessing of “machine consciousness”.

As shown in FIG. 14 , the acceleration speed of an automatic drive carC₁ is related to the FP_(f) value, and also is related to the fuzzy timeprobability value FP_(−b) that doesn't slow down and approach, the fuzzytime probability value FP⁻¹ that doesn't change lane to the left lane,and the fuzzy time probability value FP_(−r) that doesn't change lanesto the right lane. When(FP_(f)+FP_(−b)+FP⁻¹+FP_(−r))≥(FP_(b)+FP_(−f)+FP⁻¹+FP_(−r)), the fuzzyprobability measure FP_(f)′ that automatic drive car C₁ decelerate aheadis set to be “1”, then the fuzzy probability measurement FP_(b)′ thatautomatic drive car C₁ accelerates backward is:

$\begin{matrix}{{FP}_{b}^{\prime} = \frac{{FP}_{b} + {FP}_{- f} + {FP}_{- l} + {FP}_{- r}}{{FP}_{f} + {FP}_{- b} + {FP}_{- l} + {FP}_{- r}}} & \left\lbrack {{Formula}30} \right\rbrack\end{matrix}$

In this way, the information of positive and negative directions can beused together, which is the result of a strong antagonistic learningbetween positive and negative direction, and the optimal, precise anddecisive decision-making can be realized. Then, the concept of “machinedecision-making mechanism” is produced.

In the same way, when(FP_(f)+FP_(−b)+FP⁻¹+FP_(−r))<(FP_(b)+FP_(−f)+FP⁻¹+FP_(−r)), the fuzzyprobability measure FP_(b)′ that automatic drive car C₁ deceleratebackward is set to be “1”, then the fuzzy probability measurementFP_(f)′ that automatic drive car C₁ accelerates ahead is:

$\begin{matrix}{{FP}_{f}^{\prime} = \frac{{FP}_{f} + {FP}_{- b} + {FP}_{- l} + {FP}_{- r}}{{FP}_{- f} + {FP}_{b} + {FP}_{- l} + {FP}_{- r}}} & \left\lbrack {{Formula}31} \right\rbrack\end{matrix}$

Because, it is clearly stated in traffic management rules that cars donot change lanes frequently, whether the automatic drive car C₁ changeslanes to the left lane depends not only on the relation with the fuzzyevent probability measurement between the automatic drive car C₁ and thevehicle traveling together in left Lane, but also on the relation withthe straight lane and the vehicle traveling together in the right lane.In accordance with the formalized method mentioned above, when(FP₁+FP_(−f)+FP_(−b)+FP_(−r))≥(FP_(f)+FP_(b)+FP⁻¹+FP_(r)), the fuzzyprobability measure FP₁′ that automatic drive car C₁ turns to the leftlane is set to be “1”, then the fuzzy probability measurement FP⁻¹′ thatautomatic drive car C₁ doesn't turns to the left lane FP⁻¹ is:

$\begin{matrix}{{FP}_{- l}^{\prime} = \frac{{FP}_{f} + {FP}_{b} + {FP}_{- l} + {FP}_{r}}{{FP}_{l} + {FP}_{- f} + {FP}_{- b} + {FP}_{- r}}} & \left\lbrack {{Formula}32} \right\rbrack\end{matrix}$

In the same way, whether the automatic drive car C₁ changes lanes to theright lane, as described above, when(FP_(r)+FP_(−f)+FP_(−b)+FP⁻¹)≥(FP_(f)+FP_(b)+FP_(−r)+FP_(I)), the fuzzyprobability measurement FP_(r)′ that automatic drive car turns to theright lane is set to be “1”, then the fuzzy probability measure FP_(−r)′that the automatic drive car C₁ doesn't turns to the right lane FP_(−r)is:

$\begin{matrix}{{FP}_{- r}^{\prime} = \frac{{FP}_{f} + {FP}_{b} + {FP}_{- r} + {FP}_{l}}{{FP}_{r} + {FP}_{- f} + {FP}_{- b} + {FP}_{- l}}} & \left\lbrack {{Formula}33} \right\rbrack\end{matrix}$

Formula 30˜33 is used for the automatic drive car that drives on astraight road. Because the expressions of function FP_(b), FP_(f),FP_(l), FP_(r) all contain velocity variables, it can be regarded as afunction that takes time τ as an independent variable, that is,FP_(b)(τ), FP_(f)(τ), FP₁(τ), FP_(r)(τ), Thus, the model FP_(f)′,FP_(b)′ FP₁′ FP_(r)′ of machine decision-making mechanism can also forma function formula for time-dependent variables:

The formula FP_(f)′ (τ) of fuzzy probability measurement function thatthe automatic drive car C₁ accelerates forward is:

${{FP}_{f}^{\prime}(\tau)} = \frac{{F{P_{f}(\tau)}} + {F{P_{- b}(\tau)}} + {F{P_{- 1}(\tau)}} + {F{P_{- r}(\tau)}}}{{F{P_{- f}(\tau)}} + {{FP}_{b}(\tau)} + {F{P_{- 1}(\tau)}} + {F{P_{- r}(\tau)}}}$

Then the formula FP_(b)′ (τ) of fuzzy probability measure function thatthe automatic drive car C₁ decelerates backward is:

$\begin{matrix}{{{FP}_{b}^{\prime}(\tau)} = \frac{{{FP}_{b}(\tau)} + {{FP}_{- f}(\tau)} + {{FP}_{- l}(\tau)} + {{FP}_{- r}(\tau)}}{{{FP}_{f}(\tau)} + {{FP}_{- b}(\tau)} + {{FP}_{- l}(\tau)} + {{FP}_{- r}(\tau)}}} & \left\lbrack {{Formula}35} \right\rbrack\end{matrix}$

Then the formula FP₁′ (τ) of fuzzy probability measurement function ofself-driving vehicle C₁ turning left lane is:

$\begin{matrix}{{{FP}_{l}^{\prime}(\tau)} = \frac{{{FP}_{- f}(\tau)} + {{FP}_{- b}(\tau)} + {{FP}_{l}(\tau)} + {{FP}_{- r}(\tau)}}{{{FP}_{f}(\tau)} + {{FP}_{b}(\tau)} + {{FP}_{- l}(\tau)} + {{FP}_{r}(\tau)}}} & \left\lbrack {{Formula}36} \right\rbrack\end{matrix}$

Then the formula FP_(r)′ (τ) of fuzzy probability measurement functionthat the automatic drive car C₁ turns to the right lane is:

$\begin{matrix}{{{FP}_{r}^{\prime}(\tau)} = \frac{{{FP}_{- f}(\tau)} + {{FP}_{- b}(\tau)} + {{FP}_{- l}(\tau)} + {{FP}_{r}(\tau)}}{{{FP}_{f}(\tau)} + {{FP}_{b}(\tau)} + {{FP}_{l}(\tau)} + {{FP}_{- r}(\tau)}}} & \left\lbrack {{Formula}37} \right\rbrack\end{matrix}$

This makes it possible to predict which section of the automatic drivingis a safe driving area and which section will start to be dangerous, sothis is a “machine consciousness” model of the automatic driving dynamicprocess control. The above-mentioned “machine consciousness” model canpredict the state that will travel, and it calls the “Smart Grains” datato form a harmonious control process, it also conforms to thethree-dimensional mechanism of the sensing layer, the judging layer andthe executing layer of the biological nerve.

The “machine consciousness” model of automatic driving is constructedand established according to the safety driving rules, and based on thedynamic fuzzy event probability measurement relation between theautomatic drive car and the vehicle traveling together; Or fuzzyrelations; Or the probability relation, and it is constituted throughthe membership function absorbed the traffic rules, the risk predictionrules, the risk avoidance rules, and it is realized by making use of theantagonistic result of the fuzzy event probability measurement of thepositive and negative direction, or fuzzy relations, or probabilityrelations.

The above-mentioned “machine consciousness” model is a machinedecision-making mechanism which divides the automatic drive car intoseveral different road conditions during driving.

Next, in the face of the control characteristics of the automaticdriving system proposed by this application, it is necessary to considerhow to bypass the complicated NP problem of the automatic driving, andthe traditional control method should set the threshold value to controleach control point. So at least dozens of road conditions, each of whichhas dozens of control points to adjust, this is a typical NP problem incombinatorial theory and is a problem that the Turing machine cannotsolve.

In order to solve the NP problem of automatic drive car in complexcontrol, this application proposes to bypass the NP problem of automaticdriving in complex control by using the method that machine learns fromhuman, and this learning can generate all kinds of automatic drivingknowledge, and machine achieves “Smart Gains” from human and the machinecan produce “wisdom”, then the automatic drive car can achieve the mosthuman-like control results of “Smart Gains”, which greatly simplifiesthe complexity of automatic drive car, thus the control of automaticdrive car gets rid of the complex NP problem and it is hoped thatautomatic drive car system with the effect of Turing test can berealized.

FIG. 15 is schematic diagram of the “smart gains” for the processcontrol of automatic drive car.

As shown in FIG. 15 : First, driving distance (DD), initial velocity(IV), target speed (TS) and the current walking distance (the positionof the monitoring point in the driving process) Dis are search items,control items include steering wheel angle (Sw), throttle size (Tv),Braking condition (BS), driving direction (P/N), turn control (Tc), turnlight (Tl), control interval (Ci), road condition type (RC), etc.

Probability scale self-organizing machine learning DL₁ is responsiblefor determining the maximum probability value in the training data ofthe plural automatic drive cars, which is input to the nodes of thesensing layer (P₁) and connected to the sensing layer and the neurallayer (P₂) probability scale self-organizing machine learning DL₁ isresponsible for determining the maximum probability distribution withplural training data and eliminating the incorrect training data, andidentifying and establishing the new training data processing. When thecalculating data are beyond a certain range through the calculation ofthe distance formula (10) which can unify Euclidean space andprobability space, and the fuzzy event probability measurement formula(11) which can be used in different spaces, it will be put into thestorage space to be observed. If there are some similar training resultswith this data in the subsequent training, these data form new “SmartGains” result by the probability scale self-organizing machine learning;otherwise the data will be removed.

EPD is the storage space set up for data retrieval. According to thestate instruction of “acquisition of consciousness”, the contents of EPDdatabase are retrieved, and the data of control project is taken out tocontrol the driving of automatic drive car. The specific retrievalmethods are as follows: By distance formula (10) that can unifyEuclidean space and probability space, and the fuzzy event probabilitymeasurement formula (11) of different spaces, we calculate the distancebetween the driving requirements required by the state instruction of“acquisition of consciousness” and the probability distribution of thedata in EPD database, or the fuzzy event probability measurement, thenthe closest database of machine learning “Smart Gains” in the processcontrol of the automatic driving can be obtained and the automatic drivecar can be controlled by using the each data of control item. Inaddition, there are also gyroscopes to control the attitude of automaticdriving, positioning, and Lane and so on.

The “Smart Gains” of automatic driving is to solve the problem ofdriving skills that the machine learns from the human. It can simplifythe control of complicated automatic driving, so a lot of training isneeded to train automatic drive car system in advance, so that “SmartGains” has enough knowledge to face various driving conditions.

The method of obtaining that the automatic driving constitutes “SmartGains” data is that the relation between a vehicle and the vehicletraveling together, or a state instruction given by road condition isobtained by “machine consciousness” unit. After the “Smart Gains” unitreceives one of the above-mentioned state instructions, at least oneinformation including steering wheel information, throttle information,brake information, gear information, turn indicator light information,which are produced on the training of automatic drive car, is registeredand the database of “Smart Gains” is constituted.

The above mentioned relationship between a certain and the passingvehicle obtained by the “machine consciousness” refers to: at least oneof the fuzzy event probability measurement relation including fuzzyrelation, probability relation, and the relation of distance between thevehicles.

The above mentioned “Smart Gains” data is that in the same “machineconsciousness” instruction, the plural of data after plural training isobtained, through probability scale self-organizing machine learning,the maximum probability value of training data; Maximum probabilityspace of training data; Maximum probability distribution of trainingdata is obtained.

Wherein, the maximum probability value of training data is the controlvalue as “Smart Gains” unit, as the basis of judging the trainingquality, choosing training results and establishing new “Smart Gains”data. The maximum probability distribution of training data isconsidered as the redundancy of automatic driving in control and thenecessary condition for data retrieval with probability distributionproperty of the establishment of sample data and login.

The control method of automatic driving importing into “Smart Gains”model is that through “machine consciousness”, the relation between acertain and a passing vehicle, or a state instruction of road conditionis obtained, after obtaining the above-mentioned state instruction, the“Smart Gains” data corresponding to that state instruction is obtained,and the driving of the automatic drive car is controlled in accordancewith “Smart Gains” data.

The above mentioned relationship between a certain and the passingvehicle obtained by the “machine consciousness” refers to: at least oneof the fuzzy event probability measurement relation including fuzzyrelation, probability relation, and the relation of distance between thevehicles.

The “Smart Gains” data corresponding to this state mentioned aboverefers to the calculation for the instruction condition given by“machine consciousness” and the data in the “Smart Gains” databasethrough the formula of the distance that unify the distance between theEuclidean space and probability space or the fuzzy event probabilitymeasurement formula, and the distance is found out or “Smart Gains” dataof the smallest measurement is taken as the control data.

On the principles of “comfortable ride” proposed by human engineering;Acceleration in control of automatic driving; Or the deceleration doesnot exceed ±x [m/s²], or does not exceed the acceleration of y [m/s³] toavoid giving people some uncomfortable ride and achieve the effect of“comfortable ride”.

The realization of automatic driving control is by no means a mere callof “Smart Gains” data. According to the theory of self-regulatingdecentralized control, the control of automatic driving has independentcontrol ability. In one kind of road condition, all kinds of accidentalevents will appear randomly, so it is necessary to have all kinds ofinformation of sensing layer in the function unit of “Smart Gains” andalso can autonomously carry out driving of automatic drive car under acertain range and condition without the function unit of “machineconsciousness”.

The “Smart Gains” data is continuously controlled according to thedistance measured by the gyroscope during the process of the driving ofthe automatic drive car, and the “Smart Gains” is achieved by the datacollection during the training according to the distance measured by thegyroscope. The driving process of automatic drive car is also based onthis interval to read the “Smart Gains” data and catty out the controlof the corresponding parameters.

The control of automatic drive car is not only simply to read the “SmartGains” data and carry out the control according to “Smart Gains” data,as a self-regulated decentralized control system, when the automaticdrive car carries out to read “Smart Gains” data and the necessarycontrol according to “Smart Gains” data, the information from thesensing layer is also received, and the possibility occurrence ofvarious events can be independently judged according to the occurrenceof sudden events, or the possibility the occurrence of sudden events,appropriate treatment is given.

In the control of automatic driving vehicle, according to the Gaussianprocess machine learning model of maximum probability, it solves thecourse angle and speed regulated by the maximum probability of thedriving track of automatic driving vehicle. And with the control basisof the prior knowledge of the operation process value of the steeringwheel, throttle and the brake of maximum probability, it solves thedifference of course angle and speed regulated between the track ofautomatic driving adjusted by the prior knowledge and the maximumprobability of the driving track of automatic driving vehicle, andadjusts the course angle and speed of automatic driving vehiclerepeatedly with this difference until the course angle and speed are thesame as that of the maximum probability of automatic driving track.

A control device of automatic driving imported “Smart Gains” is composedof the decision information module accepting “machine consciousness”,the data module calling the “Smart Gains” and the driving modulecontrolling the automatic driving vehicle. The decision informationmodule accepting “machine consciousness” is in charge of accepting theinformation about the distance, relative speed, and position of thepassing vehicle around the automatic driving vehicle provided by thesensory perceptual system through “machine consciousness” decisionsystem, and through the description of mathematical method, and thecomplex logic operation and the logic antagonistic result, then givesthe control instructions.

Data module calling the “Smart Gains” is that after obtaining theabove-mentioned state instruction, call the data corresponding to thestate instruction, and obtain the “Smart Gains” data through theGaussian process machine learning of the maximum probability. Thedriving module controlling the automatic driving vehicle is thataccording to the “Smart Gains” data including steering wheel, throttleand brake, through the prior knowledge constituted by the Gaussianprocess machine learning of maximum probability, and with theclosed-loop control, make the automatic driving vehicles driveautomatically according to the driving track of “Smart Gains” data.

FIGS. 16A-16B illustrate a schematic diagram of possible situationsduring automatic driving. FIG. 16A shows that the automatic drive car C₁is about to pass through the bus C₂ that has just stopped in the rightlane, it is the blind area in the front of the bus that the automaticdrive car cannot see, as the control unit of automatic drive car, thecase should be considered that if passengers run out from the front ofthe bus, the automatic drive car can carry out emergency stop.

FIG. 16B shows that the automatic drive car C₁ is about to pass througha crossroads without lights, and on another road in the left of thecrossing there is a vehicle C₂ traveling together coming towards thecrossroads and the vehicle C₂ traveling together is located in a blindarea for the automatic drive car, as automatic drive car C₁, thepossibility of traffic accident should be considered that the vehicle C₂traveling together may pop head out to the crossroads, so the automaticdrive car C₁ should ensure that even if the vehicle C₂ travelingtogether pop head out to the crossroads, traffic accidents can also beavoided.

However, during the driving of the automatic drive car, there are manyplaces like these which may cause traffic accidents. If they are nothandled well, very uncomfortable situation during the driving may occur.How to make the automatic drive car consider both the machineconsciousness and comfortable ride, because the probability that apassenger runs out from the front bus is very small, so “Smart Gains”data that how do the human teach machines to drive should be calledaccording to the distance between the automatic drive car and the bus,the current speed and proximity to the front of the bus, even if thereare passengers running out, the emergency brake can be done to ensurethat no accident occurs, and the best comfortable ride.

The method to solve this problem is: First of all, in the machinelearning of initial speed, target speed, driving distance, terminalspeed and other driving conditions, how to satisfy the “safety rules” atthe same time; how to “ride comfortably”; How to satisfy “safety rules”;And how to ride comfortably while realizing “quick arrival”, which areall done by teaching the machine to form a large number of “Smart Gains”data by human, and carry out the fusion with the driving route that“Smart Gains” data wants to drive and the driving route that the“machine consciousness” predicts.

Here, another way to teach a good driver's driving skills is proposed tothe automatic drive car through the “Smart Gains” of machine learning,and through the above state instruction given by “machineconsciousness”; “comfortable ride” of automatic drive car should besmoothly carried out, and the complex NP control problem faced byautomatic drive car should be solved.

In solving the complexity of the various driving processes, it isproposed that, through machine learning, the machine can learn variousdriving skills from human, and how to face the state instructions ofeach “machine consciousness”, turn every driving state to “running flow”smoothly, which also depends on the learning that the machine learnsfrom human. In this guiding ideology, multi-purpose control of “safedriving”, “comfortable ride” and “fast arrival”, “energy saving” can berealized.

FIG. 17 is a schematic diagram of the fusion method of “Smart Gains” and“Machine Consciousness”.

This application proposes the integration of the four objectivefunctions of “Smart Gains”, “machine consciousness”, “comfortable ride”and “fast arrival”, first of all, relying on “Smart Gains”, during theman-machine learning, the data after learning has the characteristics of“comfortable ride” and “fast arrival” as far as possible, and theman-machine learning can be carried out in various driving conditions,so that the passengers can enjoy the pleasure of “comfortable ride” withthe excellent driver's excellent driving skills, these driving skillsare taught to the automatic drive cars, as shown in FIG. 17 : Undernormal circumstances, the automatic drive car drives according to “SmartGains” data MLD₁, When the automatic drive car C₁ enters the area of thevehicle C₂ traveling together, “machine consciousness” proposes toexceed the area of the vehicle C₂ traveling together, based on the giventime that exceeds the area of the vehicle C₂ traveling together, and therequired speed, that is, when the automatic drive car C₁ is at the thour, “machine consciousness” calls the “Smart Gains” data MLD₂ of thehigher speed, and in need of paying attention to “comfortable ride”,“machine consciousness” will call the data MLD₂ early and the change ofspeed will increase slowly.

For the objective function of “comfortable ride”, it can be realizedaccording to the theory of co-learning, the vibration of accelerationand deceleration of over ±7 [m/s²] of automatic drive car, or theacceleration vibration of about 10 [m/s³] will give people someuncomfortable feeling of ride. The “comfortable ride” effect can beachieved by avoiding the above-mentioned unsuitable “comfortable ride”in the process of acceleration and deceleration.

The second method of fusion of the four objective functions of “SmartGains”, “comfortable ride” and “fast arrival” proposed by thisapplication is that using the principle of “comfortable ride” proposedby the above-mentioned theory of co-learning to revise the “machineconsciousness” data, make the Smart Gains” data and “machineconsciousness” data to meet the “comfortable ride” requirements.

The second method of fusion of the four objective functions of “SmartGains”, “comfortable ride” and “fast arrival” proposed by thisapplication is: On the driving curve obtained in “Smart Gains”, and thedriving curve obtained in “machine consciousness”, and the driving curveobtained in “comfortable ride”, through the least square law, the bestapproximation of the three curves is carried out to make the automaticdrive car drive on the curve after the function approximation, Orthrough the maximum probability self-organizing unsupervised machinelearning shown in FIG. 5 , the maximum probability value of eachdiscrete point of the three curves is calculated to make the automaticdrive car drive on the curve connected by the maximum probability value,besides, spline function can be used to do the polishing processing. Theantagonistic learning of FIG. 14 relying on of the four objectivefunctions of “Smart Gains”, “machine consciousness”, “comfortable ride”,and “fast arrival” can also be obtained.

The concept of antagonistic learning is that when the probabilitydistribution of data obtained on the spot, such as speed, acceleration,and fast destination arrival is approached, and the distance of theprobability distribution of energy consumption and safe driving isremote, then the mediation is carried out in the direction of beingadvantageous to the negative. Conversely, the distance of theprobability distribution of acceleration and fast destination arrival isremote, and the distance of the probability distribution of energyconsumption and safe driving is approached, then the mediation iscarried out in the direction of being advantageous to the positive, soas to achieve the multi-purpose control of antagonistic learning andmake the automatic drive car stay in the optimal control state.

Here, the above “machine consciousness” and “Smart Gains” to put forwardspecific training methods for automatic drive cars is summarized.

A running state can simultaneously control the throttle acceleration,deceleration, control steering wheel to turn automatic driving car,control brake to make it slow down or stop, control shift to make thecar forward or backward, control turn direction indication and so on. Arunning state will maintain its running state without receiving theinformation of changing the sunning state issued by the decision-makinglayer, or when it encounters a sudden state, such as the completion of astate, which can be entered into the next running state according to thestate instructions of the “machine consciousness” unit.

It is proposed that, when an excellent driver is driving a vehicle,according to the state information of the vehicle traveling togetheraround of the automatic drive car received by the “machineconsciousness” function unit mounted within the automatic drive car,such as the distance between the automatic drive car and the vehicletraveling together, the speed between the automatic drive car and thevehicle traveling together, etc. The formed road condition of “machineconsciousness”, in different road condition, put the data including theexcellent driver control the throttle acceleration and deceleration, thedata that makes the automatic drive car turn controlling the steeringwheel, the data that controls the brake to slow down or stop, the datathat controls the shift to go ahead or backward, the data that controlsthe turning direction indication into the database. Using the roadinformation of “machine consciousness” to divide the continuous trainingof automatic drive car of the excellent driver into each road condition,and in each road condition, obtain the data that the excellent drivercontrols the throttle acceleration and deceleration, the data that makesthe automatic drive car turn controlling the steering wheel, the datathat controls the brake to slow down or stop, the data that controls theshift to go ahead or backward, the data that controls the turningdirection indication etc., and with these data, constitute the “SmartGains” data for the automatic drive car control, so as to carry out thetraining for the automatic drive car automatically and make theautomatic drive car obtain the knowledge taught by human, and thus canproduce the machine's wisdom. The automatic drive car can have certaindriving skills as the human, and reduce the complexity of control ofautomatic drive car, and bypass the NP problem caused by the complexityof control of automatic drive car.

The control method of the automatic driving car, in turn, the automaticdrive car, through the training of good drivers, has achieved controldata under various road conditions and realized “Smart Gains”,therefore, according to the “machine consciousness” unit and the stateinstructions given by various road conditions, the corresponding “SmartGains” data is called to control the driving of the automatic drive car.

The definition method of the above-mentioned membership function canalso be defined in various ways according to the thought of theinvention, but in the application of automatic drive car, the use offuzzy mathematics to solve the control of the automatic drive car iswithin the scope of the invention.

In addition, there can be a variety of components in the way of machinelearning, but in the automatic driving, by machine learning, therelevant data of driving training of good drivers' driving process isrecorded, and the “Smart Gains” is formed as the control data forvarious road conditions of the automatic drive car, all of which arewithin the scope of the invention.

In addition, the “machine consciousness” formed by the safety rules mayalso have various forms, and any theory that adopts the theory of fuzzymathematics shall all be within the scope of the invention.

The foregoing discussion discloses and describes merely exemplaryembodiments of the present invention. One skilled in the art willreadily recognize from such discussion, that various changes,modifications and variations can be made therein without departing fromthe spirit and scope of the invention as defined in the presentdisclosure. Furthermore, while exemplary embodiments have been expressedherein, others practiced in the art may be aware of other designs oruses of the present invention. Thus, while the present invention hasbeen described in connection with exemplary embodiments thereof, it willbe understood that many modifications in both design and use will beapparent to those of ordinary skill in the art, and this application isintended to cover any adaptations or variations thereof. It is thereforemanifestly intended that this invention be limited only by the presentdisclosure and the equivalents thereof.

What is claimed is:
 1. A composition method of machine decision-makingfor automatic driving model, the method comprising at least one of: (1)generating a plurality of membership functions formed according to atleast one of a dynamic fuzzy event probability measure relationship,fuzzy information and probability information, based on at least oneelement provided by an environmental image from an autonomous vehicleincluding distance, speed, acceleration and position between theautonomous vehicle and a surrounding vehicle, and according to at leastone predetermined safety driving rule; and (2) calculating maximum andminimum values between the plurality of membership functions so as tomaximize machine decision-making of the autonomous vehicle relative atleast to the surrounding vehicle.
 2. A composition method of machinedecision-making for an automatic driving model according to claim 1wherein: the machine decision-making of the automatic driving car isbased on an antagonistic learning model formula in both positive andnegative directions.
 3. A composition method of machine decision-makingfor an automatic driving model according to claim 1 wherein: generatinga plurality of membership functions includes generating a membershipfunction according to the at least one predetermined safety driving rulein response to at least one of the at least one predetermined safedriving rules, risk prediction rules and risk avoidance rules.